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<title>Doxygen: pcl::ISSKeypoint3D&lt; PointInT, PointOutT, NormalT &gt; 模板类 参考</title>
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<a href="#pub-types">Public 类型</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pro-methods">Protected 成员函数</a> &#124;
<a href="#pro-attribs">Protected 属性</a> &#124;
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<div class="title">pcl::ISSKeypoint3D&lt; PointInT, PointOutT, NormalT &gt; 模板类 参考</div>  </div>
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<p><a class="el" href="classpcl_1_1_i_s_s_keypoint3_d.html" title="ISSKeypoint3D detects the Intrinsic Shape Signatures keypoints for a given point cloud....">ISSKeypoint3D</a> detects the Intrinsic Shape Signatures keypoints for a given point cloud. This class is based on a particular implementation made by Federico Tombari and Samuele Salti and it has been explicitly adapted to PCL.  
 <a href="classpcl_1_1_i_s_s_keypoint3_d.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="iss__3d_8h_source.html">iss_3d.h</a>&gt;</code></p>
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类 pcl::ISSKeypoint3D&lt; PointInT, PointOutT, NormalT &gt; 继承关系图:</div>
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 <div class="center">
  <img src="classpcl_1_1_i_s_s_keypoint3_d.png" usemap="#pcl::ISSKeypoint3D_3C_20PointInT_2C_20PointOutT_2C_20NormalT_20_3E_map" alt=""/>
  <map id="pcl::ISSKeypoint3D_3C_20PointInT_2C_20PointOutT_2C_20NormalT_20_3E_map" name="pcl::ISSKeypoint3D_3C_20PointInT_2C_20PointOutT_2C_20NormalT_20_3E_map">
<area href="classpcl_1_1_keypoint.html" title="Keypoint represents the base class for key points." alt="pcl::Keypoint&lt; PointInT, PointOutT &gt;" shape="rect" coords="0,56,308,80"/>
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public 类型</h2></td></tr>
<tr class="memitem:a4a484badf80517cc78b525afdf127a0d"><td class="memItemLeft" align="right" valign="top"><a id="a4a484badf80517cc78b525afdf127a0d"></a>
typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1_i_s_s_keypoint3_d.html">ISSKeypoint3D</a>&lt; PointInT, PointOutT, <a class="el" href="structpcl_1_1_normal.html">NormalT</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
<tr class="separator:a4a484badf80517cc78b525afdf127a0d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aee6d86262255703db6f9d8f44a704c1f"><td class="memItemLeft" align="right" valign="top"><a id="aee6d86262255703db6f9d8f44a704c1f"></a>
typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1_i_s_s_keypoint3_d.html">ISSKeypoint3D</a>&lt; PointInT, PointOutT, <a class="el" href="structpcl_1_1_normal.html">NormalT</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_keypoint.html">Keypoint</a>&lt; PointInT, PointOutT &gt;::<a class="el" href="classpcl_1_1_point_cloud.html">PointCloudIn</a>&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudIn</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_keypoint.html">Keypoint</a>&lt; PointInT, PointOutT &gt;::<a class="el" href="classpcl_1_1_point_cloud.html">PointCloudOut</a>&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudOut</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_normal.html">NormalT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudN</b></td></tr>
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typedef PointCloudN::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudNPtr</b></td></tr>
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typedef PointCloudN::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudNConstPtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1octree_1_1_octree_point_cloud_search.html">pcl::octree::OctreePointCloudSearch</a>&lt; PointInT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>OctreeSearchIn</b></td></tr>
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typedef OctreeSearchIn::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>OctreeSearchInPtr</b></td></tr>
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<tr class="inherit_header pub_types_classpcl_1_1_keypoint"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classpcl_1_1_keypoint')"><img src="closed.png" alt="-"/>&#160;Public 类型 继承自 <a class="el" href="classpcl_1_1_keypoint.html">pcl::Keypoint&lt; PointInT, PointOutT &gt;</a></td></tr>
<tr class="memitem:ad0fa140c6038e3708a7ef652e5c74caa inherit pub_types_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="ad0fa140c6038e3708a7ef652e5c74caa"></a>
typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1_keypoint.html">Keypoint</a>&lt; PointInT, PointOutT &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
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typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1_keypoint.html">Keypoint</a>&lt; PointInT, PointOutT &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_p_c_l_base.html">PCLBase</a>&lt; PointInT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>BaseClass</b></td></tr>
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typedef <a class="el" href="classpcl_1_1search_1_1_search.html">pcl::search::Search</a>&lt; PointInT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>KdTree</b></td></tr>
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typedef <a class="el" href="classpcl_1_1search_1_1_search.html">pcl::search::Search</a>&lt; PointInT &gt;::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>KdTreePtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointInT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudIn</b></td></tr>
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typedef PointCloudIn::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudInPtr</b></td></tr>
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typedef PointCloudIn::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudInConstPtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointOutT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudOut</b></td></tr>
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typedef boost::function&lt; int(int, double, std::vector&lt; int &gt; &amp;, std::vector&lt; float &gt; &amp;)&gt;&#160;</td><td class="memItemRight" valign="bottom"><b>SearchMethod</b></td></tr>
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typedef boost::function&lt; int(const <a class="el" href="classpcl_1_1_point_cloud.html">PointCloudIn</a> &amp;cloud, int index, double, std::vector&lt; int &gt; &amp;, std::vector&lt; float &gt; &amp;)&gt;&#160;</td><td class="memItemRight" valign="bottom"><b>SearchMethodSurface</b></td></tr>
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<tr class="inherit_header pub_types_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Public 类型 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointInT &gt;</a></td></tr>
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typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointInT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
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typedef PointCloud::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudPtr</b></td></tr>
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typedef PointCloud::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudConstPtr</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointIndicesPtr</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> const &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointIndicesConstPtr</b></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:abd04154f4b62ac83bdc6811b433522de"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_i_s_s_keypoint3_d.html#abd04154f4b62ac83bdc6811b433522de">ISSKeypoint3D</a> (double salient_radius=0.0001)</td></tr>
<tr class="memdesc:abd04154f4b62ac83bdc6811b433522de"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor.  <a href="classpcl_1_1_i_s_s_keypoint3_d.html#abd04154f4b62ac83bdc6811b433522de">更多...</a><br /></td></tr>
<tr class="separator:abd04154f4b62ac83bdc6811b433522de"><td class="memSeparator" colspan="2">&#160;</td></tr>
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&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_i_s_s_keypoint3_d.html#a4efc3c6ba09b2363b12712c0fb2d55a1">~ISSKeypoint3D</a> ()</td></tr>
<tr class="memdesc:a4efc3c6ba09b2363b12712c0fb2d55a1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <br /></td></tr>
<tr class="separator:a4efc3c6ba09b2363b12712c0fb2d55a1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5feefc782bd54c324170b82482711360"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_i_s_s_keypoint3_d.html#a5feefc782bd54c324170b82482711360">setSalientRadius</a> (double salient_radius)</td></tr>
<tr class="memdesc:a5feefc782bd54c324170b82482711360"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the radius of the spherical neighborhood used to compute the scatter matrix.  <a href="classpcl_1_1_i_s_s_keypoint3_d.html#a5feefc782bd54c324170b82482711360">更多...</a><br /></td></tr>
<tr class="separator:a5feefc782bd54c324170b82482711360"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ade672eadfb5e9ae231348cca7b49aabd"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_i_s_s_keypoint3_d.html#ade672eadfb5e9ae231348cca7b49aabd">setNonMaxRadius</a> (double non_max_radius)</td></tr>
<tr class="memdesc:ade672eadfb5e9ae231348cca7b49aabd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the radius for the application of the non maxima supression algorithm.  <a href="classpcl_1_1_i_s_s_keypoint3_d.html#ade672eadfb5e9ae231348cca7b49aabd">更多...</a><br /></td></tr>
<tr class="separator:ade672eadfb5e9ae231348cca7b49aabd"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9549a2fac5de5583404ee6699ffe26c1"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_i_s_s_keypoint3_d.html#a9549a2fac5de5583404ee6699ffe26c1">setNormalRadius</a> (double normal_radius)</td></tr>
<tr class="memdesc:a9549a2fac5de5583404ee6699ffe26c1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the radius used for the estimation of the surface normals of the input cloud. If the radius is too large, the temporal performances of the detector may degrade significantly.  <a href="classpcl_1_1_i_s_s_keypoint3_d.html#a9549a2fac5de5583404ee6699ffe26c1">更多...</a><br /></td></tr>
<tr class="separator:a9549a2fac5de5583404ee6699ffe26c1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5f3b3731352fcb7b3dadca2a8bfa78e9"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_i_s_s_keypoint3_d.html#a5f3b3731352fcb7b3dadca2a8bfa78e9">setBorderRadius</a> (double border_radius)</td></tr>
<tr class="memdesc:a5f3b3731352fcb7b3dadca2a8bfa78e9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the radius used for the estimation of the boundary points. If the radius is too large, the temporal performances of the detector may degrade significantly.  <a href="classpcl_1_1_i_s_s_keypoint3_d.html#a5f3b3731352fcb7b3dadca2a8bfa78e9">更多...</a><br /></td></tr>
<tr class="separator:a5f3b3731352fcb7b3dadca2a8bfa78e9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8530d096380170a4d81d65ae2e85d9ca"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_i_s_s_keypoint3_d.html#a8530d096380170a4d81d65ae2e85d9ca">setThreshold21</a> (double gamma_21)</td></tr>
<tr class="memdesc:a8530d096380170a4d81d65ae2e85d9ca"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the upper bound on the ratio between the second and the first eigenvalue.  <a href="classpcl_1_1_i_s_s_keypoint3_d.html#a8530d096380170a4d81d65ae2e85d9ca">更多...</a><br /></td></tr>
<tr class="separator:a8530d096380170a4d81d65ae2e85d9ca"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa0687ad53c67c5a140ecea019036d67d"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_i_s_s_keypoint3_d.html#aa0687ad53c67c5a140ecea019036d67d">setThreshold32</a> (double gamma_32)</td></tr>
<tr class="memdesc:aa0687ad53c67c5a140ecea019036d67d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the upper bound on the ratio between the third and the second eigenvalue.  <a href="classpcl_1_1_i_s_s_keypoint3_d.html#aa0687ad53c67c5a140ecea019036d67d">更多...</a><br /></td></tr>
<tr class="separator:aa0687ad53c67c5a140ecea019036d67d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a90c224d042979a73195fdcbc7b007f05"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_i_s_s_keypoint3_d.html#a90c224d042979a73195fdcbc7b007f05">setMinNeighbors</a> (int min_neighbors)</td></tr>
<tr class="memdesc:a90c224d042979a73195fdcbc7b007f05"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the minimum number of neighbors that has to be found while applying the non maxima suppression algorithm.  <a href="classpcl_1_1_i_s_s_keypoint3_d.html#a90c224d042979a73195fdcbc7b007f05">更多...</a><br /></td></tr>
<tr class="separator:a90c224d042979a73195fdcbc7b007f05"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2f59c8225cdd9e2b7aa8b309d73d7b13"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_i_s_s_keypoint3_d.html#a2f59c8225cdd9e2b7aa8b309d73d7b13">setNormals</a> (const PointCloudNConstPtr &amp;normals)</td></tr>
<tr class="memdesc:a2f59c8225cdd9e2b7aa8b309d73d7b13"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the normals if pre-calculated normals are available.  <a href="classpcl_1_1_i_s_s_keypoint3_d.html#a2f59c8225cdd9e2b7aa8b309d73d7b13">更多...</a><br /></td></tr>
<tr class="separator:a2f59c8225cdd9e2b7aa8b309d73d7b13"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8984ac00ee1822bcdae48486394175c1"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_i_s_s_keypoint3_d.html#a8984ac00ee1822bcdae48486394175c1">setAngleThreshold</a> (float angle)</td></tr>
<tr class="memdesc:a8984ac00ee1822bcdae48486394175c1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the decision boundary (angle threshold) that marks points as boundary or regular. (default <img class="formulaInl" alt="$\pi / 2.0$" src="form_16.png"/>)  <a href="classpcl_1_1_i_s_s_keypoint3_d.html#a8984ac00ee1822bcdae48486394175c1">更多...</a><br /></td></tr>
<tr class="separator:a8984ac00ee1822bcdae48486394175c1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2afb0b8044b352a795ab38f85218f581"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_i_s_s_keypoint3_d.html#a2afb0b8044b352a795ab38f85218f581">setNumberOfThreads</a> (unsigned int nr_threads=0)</td></tr>
<tr class="memdesc:a2afb0b8044b352a795ab38f85218f581"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initialize the scheduler and set the number of threads to use.  <a href="classpcl_1_1_i_s_s_keypoint3_d.html#a2afb0b8044b352a795ab38f85218f581">更多...</a><br /></td></tr>
<tr class="separator:a2afb0b8044b352a795ab38f85218f581"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classpcl_1_1_keypoint"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_keypoint')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_keypoint.html">pcl::Keypoint&lt; PointInT, PointOutT &gt;</a></td></tr>
<tr class="memitem:ab968a8e4e03374f001f2ad32f71c19f6 inherit pub_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="ab968a8e4e03374f001f2ad32f71c19f6"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><b>harrisCorner</b> (ImageType &amp;output, ImageType &amp;input, const float sigma_d, const float sigma_i, const float alpha, const float thresh)</td></tr>
<tr class="separator:ab968a8e4e03374f001f2ad32f71c19f6 inherit pub_methods_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2093e733ffdbeec61011da572f7c1621 inherit pub_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="a2093e733ffdbeec61011da572f7c1621"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><b>hessianBlob</b> (ImageType &amp;output, ImageType &amp;input, const float sigma, bool SCALE)</td></tr>
<tr class="separator:a2093e733ffdbeec61011da572f7c1621 inherit pub_methods_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7e50c05b60ac259df5c21e7710f93409 inherit pub_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="a7e50c05b60ac259df5c21e7710f93409"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><b>hessianBlob</b> (ImageType &amp;output, ImageType &amp;input, const float start_scale, const float scaling_factor, const int num_scales)</td></tr>
<tr class="separator:a7e50c05b60ac259df5c21e7710f93409 inherit pub_methods_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a99462738157103f91e8bfe7075202f7f inherit pub_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="a99462738157103f91e8bfe7075202f7f"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><b>imageElementMultiply</b> (ImageType &amp;output, ImageType &amp;input1, ImageType &amp;input2)</td></tr>
<tr class="separator:a99462738157103f91e8bfe7075202f7f inherit pub_methods_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a06d5bf39feac19b1d5dfa0a3e87caea9 inherit pub_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="a06d5bf39feac19b1d5dfa0a3e87caea9"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#a06d5bf39feac19b1d5dfa0a3e87caea9">Keypoint</a> ()</td></tr>
<tr class="memdesc:a06d5bf39feac19b1d5dfa0a3e87caea9 inherit pub_methods_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor. <br /></td></tr>
<tr class="separator:a06d5bf39feac19b1d5dfa0a3e87caea9 inherit pub_methods_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abc3023e139444291b4d155553369b0bd inherit pub_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="abc3023e139444291b4d155553369b0bd"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#abc3023e139444291b4d155553369b0bd">~Keypoint</a> ()</td></tr>
<tr class="memdesc:abc3023e139444291b4d155553369b0bd inherit pub_methods_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty destructor <br /></td></tr>
<tr class="separator:abc3023e139444291b4d155553369b0bd inherit pub_methods_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9dbce2da2ea97dcb4f5635df33a129c9 inherit pub_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#a9dbce2da2ea97dcb4f5635df33a129c9">setSearchSurface</a> (const PointCloudInConstPtr &amp;cloud)</td></tr>
<tr class="memdesc:a9dbce2da2ea97dcb4f5635df33a129c9 inherit pub_methods_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the input dataset that we need to estimate features at every point for.  <a href="classpcl_1_1_keypoint.html#a9dbce2da2ea97dcb4f5635df33a129c9">更多...</a><br /></td></tr>
<tr class="separator:a9dbce2da2ea97dcb4f5635df33a129c9 inherit pub_methods_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa7b3aa0078d09857ed7afbee6b00e07b inherit pub_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="aa7b3aa0078d09857ed7afbee6b00e07b"></a>
PointCloudInConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#aa7b3aa0078d09857ed7afbee6b00e07b">getSearchSurface</a> ()</td></tr>
<tr class="memdesc:aa7b3aa0078d09857ed7afbee6b00e07b inherit pub_methods_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the surface point cloud dataset. <br /></td></tr>
<tr class="separator:aa7b3aa0078d09857ed7afbee6b00e07b inherit pub_methods_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a153d731738fd5966e169e26b61013689 inherit pub_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#a153d731738fd5966e169e26b61013689">setSearchMethod</a> (const KdTreePtr &amp;tree)</td></tr>
<tr class="memdesc:a153d731738fd5966e169e26b61013689 inherit pub_methods_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the search object.  <a href="classpcl_1_1_keypoint.html#a153d731738fd5966e169e26b61013689">更多...</a><br /></td></tr>
<tr class="separator:a153d731738fd5966e169e26b61013689 inherit pub_methods_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9c5fa8a8d95367a21111efe0b197a3c9 inherit pub_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="a9c5fa8a8d95367a21111efe0b197a3c9"></a>
KdTreePtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#a9c5fa8a8d95367a21111efe0b197a3c9">getSearchMethod</a> ()</td></tr>
<tr class="memdesc:a9c5fa8a8d95367a21111efe0b197a3c9 inherit pub_methods_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the search method used. <br /></td></tr>
<tr class="separator:a9c5fa8a8d95367a21111efe0b197a3c9 inherit pub_methods_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:addd331bafa986670ef416554728bd6a4 inherit pub_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="addd331bafa986670ef416554728bd6a4"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#addd331bafa986670ef416554728bd6a4">getSearchParameter</a> ()</td></tr>
<tr class="memdesc:addd331bafa986670ef416554728bd6a4 inherit pub_methods_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the internal search parameter. <br /></td></tr>
<tr class="separator:addd331bafa986670ef416554728bd6a4 inherit pub_methods_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4de1c1a1545be786c12ec36fea4008df inherit pub_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#a4de1c1a1545be786c12ec36fea4008df">setKSearch</a> (int k)</td></tr>
<tr class="memdesc:a4de1c1a1545be786c12ec36fea4008df inherit pub_methods_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the number of k nearest neighbors to use for the feature estimation.  <a href="classpcl_1_1_keypoint.html#a4de1c1a1545be786c12ec36fea4008df">更多...</a><br /></td></tr>
<tr class="separator:a4de1c1a1545be786c12ec36fea4008df inherit pub_methods_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9a337c89ee7ce0816b8a677b5d538592 inherit pub_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="a9a337c89ee7ce0816b8a677b5d538592"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#a9a337c89ee7ce0816b8a677b5d538592">getKSearch</a> ()</td></tr>
<tr class="memdesc:a9a337c89ee7ce0816b8a677b5d538592 inherit pub_methods_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">get the number of k nearest neighbors used for the feature estimation. <br /></td></tr>
<tr class="separator:a9a337c89ee7ce0816b8a677b5d538592 inherit pub_methods_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acb901dd8879ee9a34b3a87d1cb6d6a37 inherit pub_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#acb901dd8879ee9a34b3a87d1cb6d6a37">setRadiusSearch</a> (double radius)</td></tr>
<tr class="memdesc:acb901dd8879ee9a34b3a87d1cb6d6a37 inherit pub_methods_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the sphere radius that is to be used for determining the nearest neighbors used for the key point detection  <a href="classpcl_1_1_keypoint.html#acb901dd8879ee9a34b3a87d1cb6d6a37">更多...</a><br /></td></tr>
<tr class="separator:acb901dd8879ee9a34b3a87d1cb6d6a37 inherit pub_methods_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9b6fb2953dc9be88c74d95c8446937bb inherit pub_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="a9b6fb2953dc9be88c74d95c8446937bb"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#a9b6fb2953dc9be88c74d95c8446937bb">getRadiusSearch</a> ()</td></tr>
<tr class="memdesc:a9b6fb2953dc9be88c74d95c8446937bb inherit pub_methods_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the sphere radius used for determining the neighbors. <br /></td></tr>
<tr class="separator:a9b6fb2953dc9be88c74d95c8446937bb inherit pub_methods_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3ead3b82282115d4b7e400daee213c2d inherit pub_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top">pcl::PointIndicesConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#a3ead3b82282115d4b7e400daee213c2d">getKeypointsIndices</a> ()</td></tr>
<tr class="separator:a3ead3b82282115d4b7e400daee213c2d inherit pub_methods_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a046a7cd11598b06d2076da69a3100e4b inherit pub_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#a046a7cd11598b06d2076da69a3100e4b">compute</a> (<a class="el" href="classpcl_1_1_point_cloud.html">PointCloudOut</a> &amp;output)</td></tr>
<tr class="memdesc:a046a7cd11598b06d2076da69a3100e4b inherit pub_methods_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">Base method for key point detection for all points given in &lt;setInputCloud (), setIndices ()&gt; using the surface in setSearchSurface () and the spatial locator in setSearchMethod ()  <a href="classpcl_1_1_keypoint.html#a046a7cd11598b06d2076da69a3100e4b">更多...</a><br /></td></tr>
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<tr class="memitem:aa327f241d246cec23ca531261f60da3f inherit pub_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#aa327f241d246cec23ca531261f60da3f">searchForNeighbors</a> (int index, double parameter, std::vector&lt; int &gt; &amp;indices, std::vector&lt; float &gt; &amp;distances) const</td></tr>
<tr class="memdesc:aa327f241d246cec23ca531261f60da3f inherit pub_methods_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">Search for k-nearest neighbors using the spatial locator from <em>setSearchmethod</em>, and the given surface from <em>setSearchSurface</em>.  <a href="classpcl_1_1_keypoint.html#aa327f241d246cec23ca531261f60da3f">更多...</a><br /></td></tr>
<tr class="separator:aa327f241d246cec23ca531261f60da3f inherit pub_methods_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointInT &gt;</a></td></tr>
<tr class="memitem:af4fbc5eb005057f8a0fc6d60bde595df inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="af4fbc5eb005057f8a0fc6d60bde595df"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af4fbc5eb005057f8a0fc6d60bde595df">PCLBase</a> ()</td></tr>
<tr class="memdesc:af4fbc5eb005057f8a0fc6d60bde595df inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor. <br /></td></tr>
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<tr class="memitem:a7a6dd7a91275d7737cf1b18005b47244 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a7a6dd7a91275d7737cf1b18005b47244"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a7a6dd7a91275d7737cf1b18005b47244">PCLBase</a> (const <a class="el" href="classpcl_1_1_p_c_l_base.html">PCLBase</a> &amp;base)</td></tr>
<tr class="memdesc:a7a6dd7a91275d7737cf1b18005b47244 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy constructor. <br /></td></tr>
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<tr class="memitem:ad5d6846e98e59c37dcc3dc9958d53966 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ad5d6846e98e59c37dcc3dc9958d53966"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ad5d6846e98e59c37dcc3dc9958d53966">~PCLBase</a> ()</td></tr>
<tr class="memdesc:ad5d6846e98e59c37dcc3dc9958d53966 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <br /></td></tr>
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<tr class="memitem:a1952d7101f3942bac3b69ed55c1ca7ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">setInputCloud</a> (const PointCloudConstPtr &amp;cloud)</td></tr>
<tr class="memdesc:a1952d7101f3942bac3b69ed55c1ca7ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the input dataset  <a href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">更多...</a><br /></td></tr>
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<tr class="memitem:a8cd745c4f7a792212f4fc3720b9d46ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a8cd745c4f7a792212f4fc3720b9d46ea"></a>
PointCloudConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a8cd745c4f7a792212f4fc3720b9d46ea">getInputCloud</a> () const</td></tr>
<tr class="memdesc:a8cd745c4f7a792212f4fc3720b9d46ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the input point cloud dataset. <br /></td></tr>
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<tr class="memitem:ab219359de6eb34c9d51e2e976dd1a0d1 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1">setIndices</a> (const IndicesPtr &amp;indices)</td></tr>
<tr class="memdesc:ab219359de6eb34c9d51e2e976dd1a0d1 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1">更多...</a><br /></td></tr>
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<tr class="memitem:a436c68c74b31e4dd00000adfbb11ca7c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a436c68c74b31e4dd00000adfbb11ca7c">setIndices</a> (const IndicesConstPtr &amp;indices)</td></tr>
<tr class="memdesc:a436c68c74b31e4dd00000adfbb11ca7c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#a436c68c74b31e4dd00000adfbb11ca7c">更多...</a><br /></td></tr>
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<tr class="memitem:af9cc90d8364ce968566f75800d3773ca inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af9cc90d8364ce968566f75800d3773ca">setIndices</a> (const PointIndicesConstPtr &amp;indices)</td></tr>
<tr class="memdesc:af9cc90d8364ce968566f75800d3773ca inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#af9cc90d8364ce968566f75800d3773ca">更多...</a><br /></td></tr>
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<tr class="memitem:a930c7a6375fdf65ff8cfdb4eb4a6d996 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a930c7a6375fdf65ff8cfdb4eb4a6d996">setIndices</a> (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)</td></tr>
<tr class="memdesc:a930c7a6375fdf65ff8cfdb4eb4a6d996 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the indices for the points laying within an interest region of the point cloud.  <a href="classpcl_1_1_p_c_l_base.html#a930c7a6375fdf65ff8cfdb4eb4a6d996">更多...</a><br /></td></tr>
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<tr class="memitem:a058753dd4de73d3d0062fe2e452fba3c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a058753dd4de73d3d0062fe2e452fba3c"></a>
IndicesPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a058753dd4de73d3d0062fe2e452fba3c">getIndices</a> ()</td></tr>
<tr class="memdesc:a058753dd4de73d3d0062fe2e452fba3c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the vector of indices used. <br /></td></tr>
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<tr class="memitem:acae187b37230758959572ceb1e6e2045 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="acae187b37230758959572ceb1e6e2045"></a>
IndicesConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#acae187b37230758959572ceb1e6e2045">getIndices</a> () const</td></tr>
<tr class="memdesc:acae187b37230758959572ceb1e6e2045 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the vector of indices used. <br /></td></tr>
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<tr class="memitem:af7335fedb0af0930b9d1dedcb54ba201 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">const PointInT &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af7335fedb0af0930b9d1dedcb54ba201">operator[]</a> (size_t pos) const</td></tr>
<tr class="memdesc:af7335fedb0af0930b9d1dedcb54ba201 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Override PointCloud operator[] to shorten code  <a href="classpcl_1_1_p_c_l_base.html#af7335fedb0af0930b9d1dedcb54ba201">更多...</a><br /></td></tr>
<tr class="separator:af7335fedb0af0930b9d1dedcb54ba201 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected 成员函数</h2></td></tr>
<tr class="memitem:aea90235222675852378ca58bd8202494"><td class="memItemLeft" align="right" valign="top">bool *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_i_s_s_keypoint3_d.html#aea90235222675852378ca58bd8202494">getBoundaryPoints</a> (<a class="el" href="classpcl_1_1_point_cloud.html">PointCloudIn</a> &amp;input, double border_radius, float angle_threshold)</td></tr>
<tr class="memdesc:aea90235222675852378ca58bd8202494"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compute the boundary points for the given input cloud.  <a href="classpcl_1_1_i_s_s_keypoint3_d.html#aea90235222675852378ca58bd8202494">更多...</a><br /></td></tr>
<tr class="separator:aea90235222675852378ca58bd8202494"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a61e2d8e2b2546001194e438034bb1f8d"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_i_s_s_keypoint3_d.html#a61e2d8e2b2546001194e438034bb1f8d">getScatterMatrix</a> (const int &amp;current_index, Eigen::Matrix3d &amp;cov_m)</td></tr>
<tr class="memdesc:a61e2d8e2b2546001194e438034bb1f8d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compute the scatter matrix for a point index.  <a href="classpcl_1_1_i_s_s_keypoint3_d.html#a61e2d8e2b2546001194e438034bb1f8d">更多...</a><br /></td></tr>
<tr class="separator:a61e2d8e2b2546001194e438034bb1f8d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac2a9b728c1984938db6cb35b1f8618b4"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_i_s_s_keypoint3_d.html#ac2a9b728c1984938db6cb35b1f8618b4">initCompute</a> ()</td></tr>
<tr class="memdesc:ac2a9b728c1984938db6cb35b1f8618b4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Perform the initial checks before computing the keypoints.  <a href="classpcl_1_1_i_s_s_keypoint3_d.html#ac2a9b728c1984938db6cb35b1f8618b4">更多...</a><br /></td></tr>
<tr class="separator:ac2a9b728c1984938db6cb35b1f8618b4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a08dec275b42269d09e7bcbdcac32e6bf"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_i_s_s_keypoint3_d.html#a08dec275b42269d09e7bcbdcac32e6bf">detectKeypoints</a> (<a class="el" href="classpcl_1_1_point_cloud.html">PointCloudOut</a> &amp;output)</td></tr>
<tr class="memdesc:a08dec275b42269d09e7bcbdcac32e6bf"><td class="mdescLeft">&#160;</td><td class="mdescRight">Detect the keypoints by performing the EVD of the scatter matrix.  <a href="classpcl_1_1_i_s_s_keypoint3_d.html#a08dec275b42269d09e7bcbdcac32e6bf">更多...</a><br /></td></tr>
<tr class="separator:a08dec275b42269d09e7bcbdcac32e6bf"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_methods_classpcl_1_1_keypoint"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classpcl_1_1_keypoint')"><img src="closed.png" alt="-"/>&#160;Protected 成员函数 继承自 <a class="el" href="classpcl_1_1_keypoint.html">pcl::Keypoint&lt; PointInT, PointOutT &gt;</a></td></tr>
<tr class="memitem:af2dd9244731bfd903ce4aa73efb996eb inherit pro_methods_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="af2dd9244731bfd903ce4aa73efb996eb"></a>
const std::string &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#af2dd9244731bfd903ce4aa73efb996eb">getClassName</a> () const</td></tr>
<tr class="memdesc:af2dd9244731bfd903ce4aa73efb996eb inherit pro_methods_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a string representation of the name of this class. <br /></td></tr>
<tr class="separator:af2dd9244731bfd903ce4aa73efb996eb inherit pro_methods_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_methods_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Protected 成员函数 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointInT &gt;</a></td></tr>
<tr class="memitem:acceb20854934f4cf77e266eb5a44d4f0 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#acceb20854934f4cf77e266eb5a44d4f0">initCompute</a> ()</td></tr>
<tr class="memdesc:acceb20854934f4cf77e266eb5a44d4f0 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">This method should get called before starting the actual computation.  <a href="classpcl_1_1_p_c_l_base.html#acceb20854934f4cf77e266eb5a44d4f0">更多...</a><br /></td></tr>
<tr class="separator:acceb20854934f4cf77e266eb5a44d4f0 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="afc426c4eebb94b7734d4fa556bff1420"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#afc426c4eebb94b7734d4fa556bff1420">deinitCompute</a> ()</td></tr>
<tr class="memdesc:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">This method should get called after finishing the actual computation. <br /></td></tr>
<tr class="separator:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
Protected 属性</h2></td></tr>
<tr class="memitem:a7172556ea66b5b2a1c86c48097e4b66c"><td class="memItemLeft" align="right" valign="top"><a id="a7172556ea66b5b2a1c86c48097e4b66c"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_i_s_s_keypoint3_d.html#a7172556ea66b5b2a1c86c48097e4b66c">salient_radius_</a></td></tr>
<tr class="memdesc:a7172556ea66b5b2a1c86c48097e4b66c"><td class="mdescLeft">&#160;</td><td class="mdescRight">The radius of the spherical neighborhood used to compute the scatter matrix. <br /></td></tr>
<tr class="separator:a7172556ea66b5b2a1c86c48097e4b66c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a962bdf309d623503b1b262fedb829754"><td class="memItemLeft" align="right" valign="top"><a id="a962bdf309d623503b1b262fedb829754"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_i_s_s_keypoint3_d.html#a962bdf309d623503b1b262fedb829754">non_max_radius_</a></td></tr>
<tr class="memdesc:a962bdf309d623503b1b262fedb829754"><td class="mdescLeft">&#160;</td><td class="mdescRight">The non maxima suppression radius. <br /></td></tr>
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<tr class="memitem:ac8ecef68caca79848c9c87f8d25187a4"><td class="memItemLeft" align="right" valign="top"><a id="ac8ecef68caca79848c9c87f8d25187a4"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_i_s_s_keypoint3_d.html#ac8ecef68caca79848c9c87f8d25187a4">normal_radius_</a></td></tr>
<tr class="memdesc:ac8ecef68caca79848c9c87f8d25187a4"><td class="mdescLeft">&#160;</td><td class="mdescRight">The radius used to compute the normals of the input cloud. <br /></td></tr>
<tr class="separator:ac8ecef68caca79848c9c87f8d25187a4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acee859609fc4af6647ff620e2345b5ab"><td class="memItemLeft" align="right" valign="top"><a id="acee859609fc4af6647ff620e2345b5ab"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_i_s_s_keypoint3_d.html#acee859609fc4af6647ff620e2345b5ab">border_radius_</a></td></tr>
<tr class="memdesc:acee859609fc4af6647ff620e2345b5ab"><td class="mdescLeft">&#160;</td><td class="mdescRight">The radius used to compute the boundary points of the input cloud. <br /></td></tr>
<tr class="separator:acee859609fc4af6647ff620e2345b5ab"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9371d707be211e6a031f00de27aec208"><td class="memItemLeft" align="right" valign="top"><a id="a9371d707be211e6a031f00de27aec208"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_i_s_s_keypoint3_d.html#a9371d707be211e6a031f00de27aec208">gamma_21_</a></td></tr>
<tr class="memdesc:a9371d707be211e6a031f00de27aec208"><td class="mdescLeft">&#160;</td><td class="mdescRight">The upper bound on the ratio between the second and the first eigenvalue returned by the EVD. <br /></td></tr>
<tr class="separator:a9371d707be211e6a031f00de27aec208"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5785e509ce928ec4bb18de8ccd920668"><td class="memItemLeft" align="right" valign="top"><a id="a5785e509ce928ec4bb18de8ccd920668"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_i_s_s_keypoint3_d.html#a5785e509ce928ec4bb18de8ccd920668">gamma_32_</a></td></tr>
<tr class="memdesc:a5785e509ce928ec4bb18de8ccd920668"><td class="mdescLeft">&#160;</td><td class="mdescRight">The upper bound on the ratio between the third and the second eigenvalue returned by the EVD. <br /></td></tr>
<tr class="separator:a5785e509ce928ec4bb18de8ccd920668"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1e2c3555b8731f73f80038d53c5e02d1"><td class="memItemLeft" align="right" valign="top"><a id="a1e2c3555b8731f73f80038d53c5e02d1"></a>
double *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_i_s_s_keypoint3_d.html#a1e2c3555b8731f73f80038d53c5e02d1">third_eigen_value_</a></td></tr>
<tr class="memdesc:a1e2c3555b8731f73f80038d53c5e02d1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Store the third eigen value associated to each point in the input cloud. <br /></td></tr>
<tr class="separator:a1e2c3555b8731f73f80038d53c5e02d1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7ed8196d927bc413146e7a76dd885255"><td class="memItemLeft" align="right" valign="top"><a id="a7ed8196d927bc413146e7a76dd885255"></a>
bool *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_i_s_s_keypoint3_d.html#a7ed8196d927bc413146e7a76dd885255">edge_points_</a></td></tr>
<tr class="memdesc:a7ed8196d927bc413146e7a76dd885255"><td class="mdescLeft">&#160;</td><td class="mdescRight">Store the information about the boundary points of the input cloud. <br /></td></tr>
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<tr class="memitem:ae9a44f39d2d44e6406bd28f4bedfaef5"><td class="memItemLeft" align="right" valign="top"><a id="ae9a44f39d2d44e6406bd28f4bedfaef5"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_i_s_s_keypoint3_d.html#ae9a44f39d2d44e6406bd28f4bedfaef5">min_neighbors_</a></td></tr>
<tr class="memdesc:ae9a44f39d2d44e6406bd28f4bedfaef5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Minimum number of neighbors that has to be found while applying the non maxima suppression algorithm. <br /></td></tr>
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<tr class="memitem:aa182e0c44f26fb0da65ea203046db3e9"><td class="memItemLeft" align="right" valign="top"><a id="aa182e0c44f26fb0da65ea203046db3e9"></a>
PointCloudNConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_i_s_s_keypoint3_d.html#aa182e0c44f26fb0da65ea203046db3e9">normals_</a></td></tr>
<tr class="memdesc:aa182e0c44f26fb0da65ea203046db3e9"><td class="mdescLeft">&#160;</td><td class="mdescRight">The cloud of normals related to the input surface. <br /></td></tr>
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<tr class="memitem:ab052a7323d71aeb347563cd061f37823"><td class="memItemLeft" align="right" valign="top"><a id="ab052a7323d71aeb347563cd061f37823"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_i_s_s_keypoint3_d.html#ab052a7323d71aeb347563cd061f37823">angle_threshold_</a></td></tr>
<tr class="memdesc:ab052a7323d71aeb347563cd061f37823"><td class="mdescLeft">&#160;</td><td class="mdescRight">The decision boundary (angle threshold) that marks points as boundary or regular. (default <img class="formulaInl" alt="$\pi / 2.0$" src="form_16.png"/>) <br /></td></tr>
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unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_i_s_s_keypoint3_d.html#aa65049e1122f688195bff1672f697fa4">threads_</a></td></tr>
<tr class="memdesc:aa65049e1122f688195bff1672f697fa4"><td class="mdescLeft">&#160;</td><td class="mdescRight">The number of threads that has to be used by the scheduler. <br /></td></tr>
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<tr class="inherit_header pro_attribs_classpcl_1_1_keypoint"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1_keypoint')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1_keypoint.html">pcl::Keypoint&lt; PointInT, PointOutT &gt;</a></td></tr>
<tr class="memitem:aef5710b81d66e6d429a9dfeb41d606ff inherit pro_attribs_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="aef5710b81d66e6d429a9dfeb41d606ff"></a>
std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#aef5710b81d66e6d429a9dfeb41d606ff">name_</a></td></tr>
<tr class="memdesc:aef5710b81d66e6d429a9dfeb41d606ff inherit pro_attribs_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">The key point detection method's name. <br /></td></tr>
<tr class="separator:aef5710b81d66e6d429a9dfeb41d606ff inherit pro_attribs_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa2ee2830db93620925b82bf6b8ffea63 inherit pro_attribs_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="aa2ee2830db93620925b82bf6b8ffea63"></a>
SearchMethod&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#aa2ee2830db93620925b82bf6b8ffea63">search_method_</a></td></tr>
<tr class="memdesc:aa2ee2830db93620925b82bf6b8ffea63 inherit pro_attribs_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">The search method template for indices. <br /></td></tr>
<tr class="separator:aa2ee2830db93620925b82bf6b8ffea63 inherit pro_attribs_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a642e18edc66cffd15266bf9e7bf20bec inherit pro_attribs_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="a642e18edc66cffd15266bf9e7bf20bec"></a>
SearchMethodSurface&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#a642e18edc66cffd15266bf9e7bf20bec">search_method_surface_</a></td></tr>
<tr class="memdesc:a642e18edc66cffd15266bf9e7bf20bec inherit pro_attribs_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">The search method template for points. <br /></td></tr>
<tr class="separator:a642e18edc66cffd15266bf9e7bf20bec inherit pro_attribs_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1998c46514f3f8d8d7665f6b505ca389 inherit pro_attribs_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="a1998c46514f3f8d8d7665f6b505ca389"></a>
PointCloudInConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#a1998c46514f3f8d8d7665f6b505ca389">surface_</a></td></tr>
<tr class="memdesc:a1998c46514f3f8d8d7665f6b505ca389 inherit pro_attribs_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">An input point cloud describing the surface that is to be used for nearest neighbors estimation. <br /></td></tr>
<tr class="separator:a1998c46514f3f8d8d7665f6b505ca389 inherit pro_attribs_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9bca452f3813c88d994dba18d4a7a1c8 inherit pro_attribs_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="a9bca452f3813c88d994dba18d4a7a1c8"></a>
KdTreePtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#a9bca452f3813c88d994dba18d4a7a1c8">tree_</a></td></tr>
<tr class="memdesc:a9bca452f3813c88d994dba18d4a7a1c8 inherit pro_attribs_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">A pointer to the spatial search object. <br /></td></tr>
<tr class="separator:a9bca452f3813c88d994dba18d4a7a1c8 inherit pro_attribs_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a578368dcf8cacc6770aa5f7e7a306def inherit pro_attribs_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="a578368dcf8cacc6770aa5f7e7a306def"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#a578368dcf8cacc6770aa5f7e7a306def">search_parameter_</a></td></tr>
<tr class="memdesc:a578368dcf8cacc6770aa5f7e7a306def inherit pro_attribs_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">The actual search parameter (casted from either <em>search_radius_</em> or <em>k_</em>). <br /></td></tr>
<tr class="separator:a578368dcf8cacc6770aa5f7e7a306def inherit pro_attribs_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3bf7980bf7404eb9b5571afbbc2001f5 inherit pro_attribs_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="a3bf7980bf7404eb9b5571afbbc2001f5"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#a3bf7980bf7404eb9b5571afbbc2001f5">search_radius_</a></td></tr>
<tr class="memdesc:a3bf7980bf7404eb9b5571afbbc2001f5 inherit pro_attribs_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">The nearest neighbors search radius for each point. <br /></td></tr>
<tr class="separator:a3bf7980bf7404eb9b5571afbbc2001f5 inherit pro_attribs_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a93359dca5b099e843c3cf0d0db1c59e1 inherit pro_attribs_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="a93359dca5b099e843c3cf0d0db1c59e1"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#a93359dca5b099e843c3cf0d0db1c59e1">k_</a></td></tr>
<tr class="memdesc:a93359dca5b099e843c3cf0d0db1c59e1 inherit pro_attribs_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">The number of K nearest neighbors to use for each point. <br /></td></tr>
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<tr class="memitem:abe8df9e1d66f449bc478cc06f062f209 inherit pro_attribs_classpcl_1_1_keypoint"><td class="memItemLeft" align="right" valign="top"><a id="abe8df9e1d66f449bc478cc06f062f209"></a>
pcl::PointIndicesPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_keypoint.html#abe8df9e1d66f449bc478cc06f062f209">keypoints_indices_</a></td></tr>
<tr class="memdesc:abe8df9e1d66f449bc478cc06f062f209 inherit pro_attribs_classpcl_1_1_keypoint"><td class="mdescLeft">&#160;</td><td class="mdescRight">Indices of the keypoints in the input cloud. <br /></td></tr>
<tr class="separator:abe8df9e1d66f449bc478cc06f062f209 inherit pro_attribs_classpcl_1_1_keypoint"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_attribs_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointInT &gt;</a></td></tr>
<tr class="memitem:a09c70d8e06e3fb4f07903fe6f8d67869 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a09c70d8e06e3fb4f07903fe6f8d67869"></a>
PointCloudConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a></td></tr>
<tr class="memdesc:a09c70d8e06e3fb4f07903fe6f8d67869 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">The input point cloud dataset. <br /></td></tr>
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<tr class="memitem:aaee847c8a517ebf365bad2cb182a6626 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="aaee847c8a517ebf365bad2cb182a6626"></a>
IndicesPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a></td></tr>
<tr class="memdesc:aaee847c8a517ebf365bad2cb182a6626 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">A pointer to the vector of point indices to use. <br /></td></tr>
<tr class="separator:aaee847c8a517ebf365bad2cb182a6626 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ada1eadb824d34ca9206a86343d9760bb inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ada1eadb824d34ca9206a86343d9760bb"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ada1eadb824d34ca9206a86343d9760bb">use_indices_</a></td></tr>
<tr class="memdesc:ada1eadb824d34ca9206a86343d9760bb inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set to true if point indices are used. <br /></td></tr>
<tr class="separator:ada1eadb824d34ca9206a86343d9760bb inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adadb0299f144528020ed558af6879662 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="adadb0299f144528020ed558af6879662"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#adadb0299f144528020ed558af6879662">fake_indices_</a></td></tr>
<tr class="memdesc:adadb0299f144528020ed558af6879662 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. <br /></td></tr>
<tr class="separator:adadb0299f144528020ed558af6879662 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><h3>template&lt;typename PointInT, typename PointOutT, typename NormalT = pcl::Normal&gt;<br />
class pcl::ISSKeypoint3D&lt; PointInT, PointOutT, NormalT &gt;</h3>

<p><a class="el" href="classpcl_1_1_i_s_s_keypoint3_d.html" title="ISSKeypoint3D detects the Intrinsic Shape Signatures keypoints for a given point cloud....">ISSKeypoint3D</a> detects the Intrinsic Shape Signatures keypoints for a given point cloud. This class is based on a particular implementation made by Federico Tombari and Samuele Salti and it has been explicitly adapted to PCL. </p>
<p>For more information about the original ISS detector, see:</p>
<dl class="section user"><dt></dt><dd>Yu Zhong, “Intrinsic shape signatures: A shape descriptor for 3D object recognition,” Computer Vision Workshops (ICCV Workshops), 2009 IEEE 12th International Conference on , vol., no., pp.689-696, Sept. 27 2009-Oct. 4 2009</dd></dl>
<p>Code example:</p>
<div class="fragment"><div class="line">pcl::PointCloud&lt;pcl::PointXYZRGBA&gt;::Ptr model (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::PointXYZRGBA&gt;</a> ());;</div>
<div class="line">pcl::PointCloud&lt;pcl::PointXYZRGBA&gt;::Ptr model_keypoints (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::PointXYZRGBA&gt;</a> ());</div>
<div class="line">pcl::search::KdTree&lt;pcl::PointXYZRGBA&gt;::Ptr tree (<span class="keyword">new</span> <a class="code" href="classpcl_1_1search_1_1_kd_tree.html">pcl::search::KdTree&lt;pcl::PointXYZRGBA&gt;</a> ());</div>
<div class="line"> </div>
<div class="line"><span class="comment">// Fill in the model cloud</span></div>
<div class="line"> </div>
<div class="line"><span class="keywordtype">double</span> model_resolution;</div>
<div class="line"> </div>
<div class="line"><span class="comment">// Compute model_resolution</span></div>
<div class="line"> </div>
<div class="line"><a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html">pcl::ISSKeypoint3D&lt;pcl::PointXYZRGBA, pcl::PointXYZRGBA&gt;</a> iss_detector;</div>
<div class="line"> </div>
<div class="line">iss_detector.<a class="code" href="classpcl_1_1_keypoint.html#a153d731738fd5966e169e26b61013689">setSearchMethod</a> (tree);</div>
<div class="line">iss_detector.<a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#a5feefc782bd54c324170b82482711360">setSalientRadius</a> (6 * model_resolution);</div>
<div class="line">iss_detector.<a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#ade672eadfb5e9ae231348cca7b49aabd">setNonMaxRadius</a> (4 * model_resolution);</div>
<div class="line">iss_detector.<a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#a8530d096380170a4d81d65ae2e85d9ca">setThreshold21</a> (0.975);</div>
<div class="line">iss_detector.<a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#aa0687ad53c67c5a140ecea019036d67d">setThreshold32</a> (0.975);</div>
<div class="line">iss_detector.<a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#a90c224d042979a73195fdcbc7b007f05">setMinNeighbors</a> (5);</div>
<div class="line">iss_detector.<a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#a2afb0b8044b352a795ab38f85218f581">setNumberOfThreads</a> (4);</div>
<div class="line">iss_detector.<a class="code" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">setInputCloud</a> (model);</div>
<div class="line">iss_detector.<a class="code" href="classpcl_1_1_keypoint.html#a046a7cd11598b06d2076da69a3100e4b">compute</a> (*model_keypoints);</div>
<div class="ttc" id="aclasspcl_1_1_i_s_s_keypoint3_d_html"><div class="ttname"><a href="classpcl_1_1_i_s_s_keypoint3_d.html">pcl::ISSKeypoint3D</a></div><div class="ttdoc">ISSKeypoint3D detects the Intrinsic Shape Signatures keypoints for a given point cloud....</div><div class="ttdef"><b>Definition:</b> iss_3d.h:86</div></div>
<div class="ttc" id="aclasspcl_1_1_i_s_s_keypoint3_d_html_a2afb0b8044b352a795ab38f85218f581"><div class="ttname"><a href="classpcl_1_1_i_s_s_keypoint3_d.html#a2afb0b8044b352a795ab38f85218f581">pcl::ISSKeypoint3D::setNumberOfThreads</a></div><div class="ttdeci">void setNumberOfThreads(unsigned int nr_threads=0)</div><div class="ttdoc">Initialize the scheduler and set the number of threads to use.</div><div class="ttdef"><b>Definition:</b> iss_3d.h:201</div></div>
<div class="ttc" id="aclasspcl_1_1_i_s_s_keypoint3_d_html_a5feefc782bd54c324170b82482711360"><div class="ttname"><a href="classpcl_1_1_i_s_s_keypoint3_d.html#a5feefc782bd54c324170b82482711360">pcl::ISSKeypoint3D::setSalientRadius</a></div><div class="ttdeci">void setSalientRadius(double salient_radius)</div><div class="ttdoc">Set the radius of the spherical neighborhood used to compute the scatter matrix.</div><div class="ttdef"><b>Definition:</b> iss_3d.hpp:49</div></div>
<div class="ttc" id="aclasspcl_1_1_i_s_s_keypoint3_d_html_a8530d096380170a4d81d65ae2e85d9ca"><div class="ttname"><a href="classpcl_1_1_i_s_s_keypoint3_d.html#a8530d096380170a4d81d65ae2e85d9ca">pcl::ISSKeypoint3D::setThreshold21</a></div><div class="ttdeci">void setThreshold21(double gamma_21)</div><div class="ttdoc">Set the upper bound on the ratio between the second and the first eigenvalue.</div><div class="ttdef"><b>Definition:</b> iss_3d.hpp:77</div></div>
<div class="ttc" id="aclasspcl_1_1_i_s_s_keypoint3_d_html_a90c224d042979a73195fdcbc7b007f05"><div class="ttname"><a href="classpcl_1_1_i_s_s_keypoint3_d.html#a90c224d042979a73195fdcbc7b007f05">pcl::ISSKeypoint3D::setMinNeighbors</a></div><div class="ttdeci">void setMinNeighbors(int min_neighbors)</div><div class="ttdoc">Set the minimum number of neighbors that has to be found while applying the non maxima suppression al...</div><div class="ttdef"><b>Definition:</b> iss_3d.hpp:91</div></div>
<div class="ttc" id="aclasspcl_1_1_i_s_s_keypoint3_d_html_aa0687ad53c67c5a140ecea019036d67d"><div class="ttname"><a href="classpcl_1_1_i_s_s_keypoint3_d.html#aa0687ad53c67c5a140ecea019036d67d">pcl::ISSKeypoint3D::setThreshold32</a></div><div class="ttdeci">void setThreshold32(double gamma_32)</div><div class="ttdoc">Set the upper bound on the ratio between the third and the second eigenvalue.</div><div class="ttdef"><b>Definition:</b> iss_3d.hpp:84</div></div>
<div class="ttc" id="aclasspcl_1_1_i_s_s_keypoint3_d_html_ade672eadfb5e9ae231348cca7b49aabd"><div class="ttname"><a href="classpcl_1_1_i_s_s_keypoint3_d.html#ade672eadfb5e9ae231348cca7b49aabd">pcl::ISSKeypoint3D::setNonMaxRadius</a></div><div class="ttdeci">void setNonMaxRadius(double non_max_radius)</div><div class="ttdoc">Set the radius for the application of the non maxima supression algorithm.</div><div class="ttdef"><b>Definition:</b> iss_3d.hpp:56</div></div>
<div class="ttc" id="aclasspcl_1_1_keypoint_html_a046a7cd11598b06d2076da69a3100e4b"><div class="ttname"><a href="classpcl_1_1_keypoint.html#a046a7cd11598b06d2076da69a3100e4b">pcl::Keypoint::compute</a></div><div class="ttdeci">void compute(PointCloudOut &amp;output)</div><div class="ttdoc">Base method for key point detection for all points given in &lt;setInputCloud (), setIndices ()&gt; using t...</div><div class="ttdef"><b>Definition:</b> keypoint.hpp:124</div></div>
<div class="ttc" id="aclasspcl_1_1_keypoint_html_a153d731738fd5966e169e26b61013689"><div class="ttname"><a href="classpcl_1_1_keypoint.html#a153d731738fd5966e169e26b61013689">pcl::Keypoint::setSearchMethod</a></div><div class="ttdeci">void setSearchMethod(const KdTreePtr &amp;tree)</div><div class="ttdoc">Provide a pointer to the search object.</div><div class="ttdef"><b>Definition:</b> keypoint.h:105</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_a1952d7101f3942bac3b69ed55c1ca7ea"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">pcl::PCLBase::setInputCloud</a></div><div class="ttdeci">virtual void setInputCloud(const PointCloudConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input dataset</div><div class="ttdef"><b>Definition:</b> pcl_base.hpp:66</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; pcl::PointXYZRGBA &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_kd_tree_html"><div class="ttname"><a href="classpcl_1_1search_1_1_kd_tree.html">pcl::search::KdTree</a></div><div class="ttdoc">search::KdTree is a wrapper class which inherits the pcl::KdTree class for performing search function...</div><div class="ttdef"><b>Definition:</b> kdtree.h:63</div></div>
</div><!-- fragment --><dl class="section author"><dt>作者</dt><dd>Gioia Ballin </dd></dl>
</div><h2 class="groupheader">构造及析构函数说明</h2>
<a id="abd04154f4b62ac83bdc6811b433522de"></a>
<h2 class="memtitle"><span class="permalink"><a href="#abd04154f4b62ac83bdc6811b433522de">&#9670;&nbsp;</a></span>ISSKeypoint3D()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT , typename PointOutT , typename NormalT  = pcl::Normal&gt; </div>
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          <td class="memname"><a class="el" href="classpcl_1_1_i_s_s_keypoint3_d.html">pcl::ISSKeypoint3D</a>&lt; PointInT, PointOutT, <a class="el" href="structpcl_1_1_normal.html">NormalT</a> &gt;::<a class="el" href="classpcl_1_1_i_s_s_keypoint3_d.html">ISSKeypoint3D</a> </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>salient_radius</em> = <code>0.0001</code></td><td>)</td>
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<p>Constructor. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">salient_radius</td><td>the radius of the spherical neighborhood used to compute the scatter matrix. </td></tr>
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<div class="fragment"><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;      : <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#a7172556ea66b5b2a1c86c48097e4b66c">salient_radius_</a> (salient_radius)</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;      , <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#a962bdf309d623503b1b262fedb829754">non_max_radius_</a> (0.0)</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      , <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#ac8ecef68caca79848c9c87f8d25187a4">normal_radius_</a> (0.0)</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;      , <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#acee859609fc4af6647ff620e2345b5ab">border_radius_</a> (0.0)</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;      , <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#a9371d707be211e6a031f00de27aec208">gamma_21_</a> (0.975)</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;      , <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#a5785e509ce928ec4bb18de8ccd920668">gamma_32_</a> (0.975)</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      , <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#a1e2c3555b8731f73f80038d53c5e02d1">third_eigen_value_</a> (0)</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;      , <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#a7ed8196d927bc413146e7a76dd885255">edge_points_</a> (0)</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;      , <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#ae9a44f39d2d44e6406bd28f4bedfaef5">min_neighbors_</a> (5)</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      , <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#aa182e0c44f26fb0da65ea203046db3e9">normals_</a> (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;NormalT&gt;</a>)</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      , <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#ab052a7323d71aeb347563cd061f37823">angle_threshold_</a> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (M_PI) / 2.0f)</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;      , <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#aa65049e1122f688195bff1672f697fa4">threads_</a> (0)</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;      {</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;        <a class="code" href="classpcl_1_1_keypoint.html#aef5710b81d66e6d429a9dfeb41d606ff">name_</a> = <span class="stringliteral">&quot;ISSKeypoint3D&quot;</span>;</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;        <a class="code" href="classpcl_1_1_keypoint.html#a3bf7980bf7404eb9b5571afbbc2001f5">search_radius_</a> = <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#a7172556ea66b5b2a1c86c48097e4b66c">salient_radius_</a>;</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;      }</div>
<div class="ttc" id="aclasspcl_1_1_i_s_s_keypoint3_d_html_a1e2c3555b8731f73f80038d53c5e02d1"><div class="ttname"><a href="classpcl_1_1_i_s_s_keypoint3_d.html#a1e2c3555b8731f73f80038d53c5e02d1">pcl::ISSKeypoint3D::third_eigen_value_</a></div><div class="ttdeci">double * third_eigen_value_</div><div class="ttdoc">Store the third eigen value associated to each point in the input cloud.</div><div class="ttdef"><b>Definition:</b> iss_3d.h:253</div></div>
<div class="ttc" id="aclasspcl_1_1_i_s_s_keypoint3_d_html_a5785e509ce928ec4bb18de8ccd920668"><div class="ttname"><a href="classpcl_1_1_i_s_s_keypoint3_d.html#a5785e509ce928ec4bb18de8ccd920668">pcl::ISSKeypoint3D::gamma_32_</a></div><div class="ttdeci">double gamma_32_</div><div class="ttdoc">The upper bound on the ratio between the third and the second eigenvalue returned by the EVD.</div><div class="ttdef"><b>Definition:</b> iss_3d.h:250</div></div>
<div class="ttc" id="aclasspcl_1_1_i_s_s_keypoint3_d_html_a7172556ea66b5b2a1c86c48097e4b66c"><div class="ttname"><a href="classpcl_1_1_i_s_s_keypoint3_d.html#a7172556ea66b5b2a1c86c48097e4b66c">pcl::ISSKeypoint3D::salient_radius_</a></div><div class="ttdeci">double salient_radius_</div><div class="ttdoc">The radius of the spherical neighborhood used to compute the scatter matrix.</div><div class="ttdef"><b>Definition:</b> iss_3d.h:235</div></div>
<div class="ttc" id="aclasspcl_1_1_i_s_s_keypoint3_d_html_a7ed8196d927bc413146e7a76dd885255"><div class="ttname"><a href="classpcl_1_1_i_s_s_keypoint3_d.html#a7ed8196d927bc413146e7a76dd885255">pcl::ISSKeypoint3D::edge_points_</a></div><div class="ttdeci">bool * edge_points_</div><div class="ttdoc">Store the information about the boundary points of the input cloud.</div><div class="ttdef"><b>Definition:</b> iss_3d.h:256</div></div>
<div class="ttc" id="aclasspcl_1_1_i_s_s_keypoint3_d_html_a9371d707be211e6a031f00de27aec208"><div class="ttname"><a href="classpcl_1_1_i_s_s_keypoint3_d.html#a9371d707be211e6a031f00de27aec208">pcl::ISSKeypoint3D::gamma_21_</a></div><div class="ttdeci">double gamma_21_</div><div class="ttdoc">The upper bound on the ratio between the second and the first eigenvalue returned by the EVD.</div><div class="ttdef"><b>Definition:</b> iss_3d.h:247</div></div>
<div class="ttc" id="aclasspcl_1_1_i_s_s_keypoint3_d_html_a962bdf309d623503b1b262fedb829754"><div class="ttname"><a href="classpcl_1_1_i_s_s_keypoint3_d.html#a962bdf309d623503b1b262fedb829754">pcl::ISSKeypoint3D::non_max_radius_</a></div><div class="ttdeci">double non_max_radius_</div><div class="ttdoc">The non maxima suppression radius.</div><div class="ttdef"><b>Definition:</b> iss_3d.h:238</div></div>
<div class="ttc" id="aclasspcl_1_1_i_s_s_keypoint3_d_html_aa182e0c44f26fb0da65ea203046db3e9"><div class="ttname"><a href="classpcl_1_1_i_s_s_keypoint3_d.html#aa182e0c44f26fb0da65ea203046db3e9">pcl::ISSKeypoint3D::normals_</a></div><div class="ttdeci">PointCloudNConstPtr normals_</div><div class="ttdoc">The cloud of normals related to the input surface.</div><div class="ttdef"><b>Definition:</b> iss_3d.h:262</div></div>
<div class="ttc" id="aclasspcl_1_1_i_s_s_keypoint3_d_html_aa65049e1122f688195bff1672f697fa4"><div class="ttname"><a href="classpcl_1_1_i_s_s_keypoint3_d.html#aa65049e1122f688195bff1672f697fa4">pcl::ISSKeypoint3D::threads_</a></div><div class="ttdeci">unsigned int threads_</div><div class="ttdoc">The number of threads that has to be used by the scheduler.</div><div class="ttdef"><b>Definition:</b> iss_3d.h:268</div></div>
<div class="ttc" id="aclasspcl_1_1_i_s_s_keypoint3_d_html_ab052a7323d71aeb347563cd061f37823"><div class="ttname"><a href="classpcl_1_1_i_s_s_keypoint3_d.html#ab052a7323d71aeb347563cd061f37823">pcl::ISSKeypoint3D::angle_threshold_</a></div><div class="ttdeci">float angle_threshold_</div><div class="ttdoc">The decision boundary (angle threshold) that marks points as boundary or regular. (default )</div><div class="ttdef"><b>Definition:</b> iss_3d.h:265</div></div>
<div class="ttc" id="aclasspcl_1_1_i_s_s_keypoint3_d_html_ac8ecef68caca79848c9c87f8d25187a4"><div class="ttname"><a href="classpcl_1_1_i_s_s_keypoint3_d.html#ac8ecef68caca79848c9c87f8d25187a4">pcl::ISSKeypoint3D::normal_radius_</a></div><div class="ttdeci">double normal_radius_</div><div class="ttdoc">The radius used to compute the normals of the input cloud.</div><div class="ttdef"><b>Definition:</b> iss_3d.h:241</div></div>
<div class="ttc" id="aclasspcl_1_1_i_s_s_keypoint3_d_html_acee859609fc4af6647ff620e2345b5ab"><div class="ttname"><a href="classpcl_1_1_i_s_s_keypoint3_d.html#acee859609fc4af6647ff620e2345b5ab">pcl::ISSKeypoint3D::border_radius_</a></div><div class="ttdeci">double border_radius_</div><div class="ttdoc">The radius used to compute the boundary points of the input cloud.</div><div class="ttdef"><b>Definition:</b> iss_3d.h:244</div></div>
<div class="ttc" id="aclasspcl_1_1_i_s_s_keypoint3_d_html_ae9a44f39d2d44e6406bd28f4bedfaef5"><div class="ttname"><a href="classpcl_1_1_i_s_s_keypoint3_d.html#ae9a44f39d2d44e6406bd28f4bedfaef5">pcl::ISSKeypoint3D::min_neighbors_</a></div><div class="ttdeci">int min_neighbors_</div><div class="ttdoc">Minimum number of neighbors that has to be found while applying the non maxima suppression algorithm.</div><div class="ttdef"><b>Definition:</b> iss_3d.h:259</div></div>
<div class="ttc" id="aclasspcl_1_1_keypoint_html_a3bf7980bf7404eb9b5571afbbc2001f5"><div class="ttname"><a href="classpcl_1_1_keypoint.html#a3bf7980bf7404eb9b5571afbbc2001f5">pcl::Keypoint::search_radius_</a></div><div class="ttdeci">double search_radius_</div><div class="ttdoc">The nearest neighbors search radius for each point.</div><div class="ttdef"><b>Definition:</b> keypoint.h:191</div></div>
<div class="ttc" id="aclasspcl_1_1_keypoint_html_aef5710b81d66e6d429a9dfeb41d606ff"><div class="ttname"><a href="classpcl_1_1_keypoint.html#aef5710b81d66e6d429a9dfeb41d606ff">pcl::Keypoint::name_</a></div><div class="ttdeci">std::string name_</div><div class="ttdoc">The key point detection method's name.</div><div class="ttdef"><b>Definition:</b> keypoint.h:173</div></div>
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<h2 class="groupheader">成员函数说明</h2>
<a id="a08dec275b42269d09e7bcbdcac32e6bf"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a08dec275b42269d09e7bcbdcac32e6bf">&#9670;&nbsp;</a></span>detectKeypoints()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT , typename PointOutT , typename NormalT &gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1_i_s_s_keypoint3_d.html">pcl::ISSKeypoint3D</a>&lt; PointInT, PointOutT, <a class="el" href="structpcl_1_1_normal.html">NormalT</a> &gt;::detectKeypoints </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classpcl_1_1_point_cloud.html">PointCloudOut</a> &amp;&#160;</td>
          <td class="paramname"><em>output</em></td><td>)</td>
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<span class="mlabels"><span class="mlabel">protected</span><span class="mlabel">virtual</span></span>  </td>
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<p>Detect the keypoints by performing the EVD of the scatter matrix. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">output</td><td>the resultant cloud of keypoints </td></tr>
  </table>
  </dd>
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<p>实现了 <a class="el" href="classpcl_1_1_keypoint.html#abbe80461ac9e3bb7e355b4608d0b4674">pcl::Keypoint&lt; PointInT, PointOutT &gt;</a>.</p>
<div class="fragment"><div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;{</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;  <span class="comment">// Make sure the output cloud is empty</span></div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;  output.points.clear ();</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160; </div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#acee859609fc4af6647ff620e2345b5ab">border_radius_</a> &gt; 0.0)</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;    <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#a7ed8196d927bc413146e7a76dd885255">edge_points_</a> = <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#aea90235222675852378ca58bd8202494">getBoundaryPoints</a> (*(<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;makeShared ()), <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#acee859609fc4af6647ff620e2345b5ab">border_radius_</a>, <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#ab052a7323d71aeb347563cd061f37823">angle_threshold_</a>);</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160; </div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;  <span class="keywordtype">bool</span>* borders = <span class="keyword">new</span> <span class="keywordtype">bool</span> [<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;size()];</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160; </div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;  <span class="keywordtype">int</span> index;</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;<span class="preprocessor">#ifdef _OPENMP</span></div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;<span class="preprocessor">  #pragma omp parallel for num_threads(threads_)</span></div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;  <span class="keywordflow">for</span> (index = 0; index &lt; int (<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;size ()); index++)</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;  {</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;    borders[index] = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;    PointInT current_point = <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;points[index];</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160; </div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;    <span class="keywordflow">if</span> ((<a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#acee859609fc4af6647ff620e2345b5ab">border_radius_</a> &gt; 0.0) &amp;&amp; (pcl::isFinite(current_point)))</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;    {</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;      std::vector&lt;int&gt; nn_indices;</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;      std::vector&lt;float&gt; nn_distances;</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160; </div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;      this-&gt;<a class="code" href="classpcl_1_1_keypoint.html#aa327f241d246cec23ca531261f60da3f">searchForNeighbors</a> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (index), <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#acee859609fc4af6647ff620e2345b5ab">border_radius_</a>, nn_indices, nn_distances);</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160; </div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j = 0 ; j &lt; nn_indices.size (); j++)</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;      {</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;        <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#a7ed8196d927bc413146e7a76dd885255">edge_points_</a>[nn_indices[j]])</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;        {</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;          borders[index] = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;          <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;        }</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;      }</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;    }</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;  }</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160; </div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;<span class="preprocessor">#ifdef _OPENMP</span></div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;  Eigen::Vector3d *omp_mem = <span class="keyword">new</span> Eigen::Vector3d[<a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#aa65049e1122f688195bff1672f697fa4">threads_</a>];</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160; </div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#aa65049e1122f688195bff1672f697fa4">threads_</a>; i++)</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;    omp_mem[i].setZero (3);</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;<span class="preprocessor">#else</span></div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;  Eigen::Vector3d *omp_mem = <span class="keyword">new</span> Eigen::Vector3d[1];</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160; </div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;  omp_mem[0].setZero (3);</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160; </div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;  <span class="keywordtype">double</span> *prg_local_mem = <span class="keyword">new</span> <span class="keywordtype">double</span>[<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;size () * 3];</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;  <span class="keywordtype">double</span> **prg_mem = <span class="keyword">new</span> <span class="keywordtype">double</span> * [<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;size ()];</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160; </div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;size (); i++)</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;    prg_mem[i] = prg_local_mem + 3 * i;</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160; </div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;<span class="preprocessor">#ifdef _OPENMP</span></div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;<span class="preprocessor">  #pragma omp parallel for num_threads(threads_)</span></div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;  <span class="keywordflow">for</span> (index = 0; index &lt; static_cast&lt;int&gt; (<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;size ()); index++)</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;  {</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;<span class="preprocessor">#ifdef _OPENMP</span></div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;    <span class="keywordtype">int</span> tid = omp_get_thread_num ();</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;<span class="preprocessor">#else</span></div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;    <span class="keywordtype">int</span> tid = 0;</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;    PointInT current_point = <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;points[index];</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160; </div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;    <span class="keywordflow">if</span> ((!borders[index]) &amp;&amp; pcl::isFinite(current_point))</div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;    {</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;      <span class="comment">//if the considered point is not a border point and the point is &quot;finite&quot;, then compute the scatter matrix</span></div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;      Eigen::Matrix3d cov_m = Eigen::Matrix3d::Zero ();</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;      <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#a61e2d8e2b2546001194e438034bb1f8d">getScatterMatrix</a> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (index), cov_m);</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160; </div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;      Eigen::SelfAdjointEigenSolver&lt;Eigen::Matrix3d&gt; solver (cov_m);</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160; </div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; e1c = solver.eigenvalues ()[2];</div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; e2c = solver.eigenvalues ()[1];</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; e3c = solver.eigenvalues ()[0];</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160; </div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;      <span class="keywordflow">if</span> (!pcl_isfinite (e1c) || !pcl_isfinite (e2c) || !pcl_isfinite (e3c))</div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;    <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160; </div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;      <span class="keywordflow">if</span> (e3c &lt; 0)</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;      {</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;    PCL_WARN (<span class="stringliteral">&quot;[pcl::%s::detectKeypoints] : The third eigenvalue is negative! Skipping the point with index %i.\n&quot;</span>,</div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;              <a class="code" href="classpcl_1_1_keypoint.html#aef5710b81d66e6d429a9dfeb41d606ff">name_</a>.c_str (), index);</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;    <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;      }</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160; </div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;      omp_mem[tid][0] = e2c / e1c;</div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;      omp_mem[tid][1] = e3c / e2c;;</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;      omp_mem[tid][2] = e3c;</div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;    }</div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160; </div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> d = 0; d &lt; omp_mem[tid].size (); d++)</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;        prg_mem[index][d] = omp_mem[tid][d];</div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;  }</div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160; </div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;  <span class="keywordflow">for</span> (index = 0; index &lt; int (<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;size ()); index++)</div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;  {</div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;   <span class="keywordflow">if</span> (!borders[index])</div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;    {</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;      <span class="keywordflow">if</span> ((prg_mem[index][0] &lt; <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#a9371d707be211e6a031f00de27aec208">gamma_21_</a>) &amp;&amp; (prg_mem[index][1] &lt; <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#a5785e509ce928ec4bb18de8ccd920668">gamma_32_</a>))</div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;        <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#a1e2c3555b8731f73f80038d53c5e02d1">third_eigen_value_</a>[index] = prg_mem[index][2];</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;    }</div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;  }</div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160; </div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;  <span class="keywordtype">bool</span>* feat_max = <span class="keyword">new</span> <span class="keywordtype">bool</span> [<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;size()];</div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;  <span class="keywordtype">bool</span> is_max;</div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160; </div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;<span class="preprocessor">#ifdef _OPENMP</span></div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;<span class="preprocessor">  #pragma omp parallel for private(is_max) num_threads(threads_)</span></div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;  <span class="keywordflow">for</span> (index = 0; index &lt; int (<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;size ()); index++)</div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;  {</div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;    feat_max [index] = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;    PointInT current_point = <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;points[index];</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160; </div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;    <span class="keywordflow">if</span> ((<a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#a1e2c3555b8731f73f80038d53c5e02d1">third_eigen_value_</a>[index] &gt; 0.0) &amp;&amp; (pcl::isFinite(current_point)))</div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;    {</div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;      std::vector&lt;int&gt; nn_indices;</div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;      std::vector&lt;float&gt; nn_distances;</div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;      <span class="keywordtype">int</span> n_neighbors;</div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160; </div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;      this-&gt;<a class="code" href="classpcl_1_1_keypoint.html#aa327f241d246cec23ca531261f60da3f">searchForNeighbors</a> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (index), <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#a962bdf309d623503b1b262fedb829754">non_max_radius_</a>, nn_indices, nn_distances);</div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160; </div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;      n_neighbors = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (nn_indices.size ());</div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160; </div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;      <span class="keywordflow">if</span> (n_neighbors &gt;= <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#ae9a44f39d2d44e6406bd28f4bedfaef5">min_neighbors_</a>)</div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;      {</div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;        is_max = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160; </div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0 ; j &lt; n_neighbors; j++)</div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;          <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#a1e2c3555b8731f73f80038d53c5e02d1">third_eigen_value_</a>[index] &lt; <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#a1e2c3555b8731f73f80038d53c5e02d1">third_eigen_value_</a>[nn_indices[j]])</div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;            is_max = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;        <span class="keywordflow">if</span> (is_max)</div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;          feat_max[index] = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;      }</div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;    }</div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;  }</div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160; </div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;<span class="preprocessor">#ifdef _OPENMP</span></div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;<span class="preprocessor">#pragma omp parallel for shared (output) num_threads(threads_)</span></div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;  <span class="keywordflow">for</span> (index = 0; index &lt; int (<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;size ()); index++)</div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;  {</div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;    <span class="keywordflow">if</span> (feat_max[index])</div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;<span class="preprocessor">#ifdef _OPENMP</span></div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;<span class="preprocessor">#pragma omp critical</span></div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;    {</div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;      PointOutT p;</div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;      p.getVector3fMap () = <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;points[index].getVector3fMap ();</div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;      output.points.push_back(p);</div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;      <a class="code" href="classpcl_1_1_keypoint.html#abe8df9e1d66f449bc478cc06f062f209">keypoints_indices_</a>-&gt;indices.push_back (index);</div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;    }</div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;  }</div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160; </div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;  output.header = <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;header;</div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;  output.width = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span> (output.points.size ());</div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;  output.height = 1;</div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160; </div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;  <span class="comment">// Clear the contents of variables and arrays before the beginning of the next computation.</span></div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#acee859609fc4af6647ff620e2345b5ab">border_radius_</a> &gt; 0.0)</div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;    <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#aa182e0c44f26fb0da65ea203046db3e9">normals_</a>.reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;NormalT&gt;</a>);</div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160; </div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;  <span class="keyword">delete</span>[] borders;</div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;  <span class="keyword">delete</span>[] prg_mem;</div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;  <span class="keyword">delete</span>[] prg_local_mem;</div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;  <span class="keyword">delete</span>[] feat_max;</div>
<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;  <span class="keyword">delete</span>[] omp_mem;</div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_i_s_s_keypoint3_d_html_a61e2d8e2b2546001194e438034bb1f8d"><div class="ttname"><a href="classpcl_1_1_i_s_s_keypoint3_d.html#a61e2d8e2b2546001194e438034bb1f8d">pcl::ISSKeypoint3D::getScatterMatrix</a></div><div class="ttdeci">void getScatterMatrix(const int &amp;current_index, Eigen::Matrix3d &amp;cov_m)</div><div class="ttdoc">Compute the scatter matrix for a point index.</div><div class="ttdef"><b>Definition:</b> iss_3d.hpp:149</div></div>
<div class="ttc" id="aclasspcl_1_1_i_s_s_keypoint3_d_html_aea90235222675852378ca58bd8202494"><div class="ttname"><a href="classpcl_1_1_i_s_s_keypoint3_d.html#aea90235222675852378ca58bd8202494">pcl::ISSKeypoint3D::getBoundaryPoints</a></div><div class="ttdeci">bool * getBoundaryPoints(PointCloudIn &amp;input, double border_radius, float angle_threshold)</div><div class="ttdoc">Compute the boundary points for the given input cloud.</div><div class="ttdef"><b>Definition:</b> iss_3d.hpp:105</div></div>
<div class="ttc" id="aclasspcl_1_1_keypoint_html_aa327f241d246cec23ca531261f60da3f"><div class="ttname"><a href="classpcl_1_1_keypoint.html#aa327f241d246cec23ca531261f60da3f">pcl::Keypoint::searchForNeighbors</a></div><div class="ttdeci">int searchForNeighbors(int index, double parameter, std::vector&lt; int &gt; &amp;indices, std::vector&lt; float &gt; &amp;distances) const</div><div class="ttdoc">Search for k-nearest neighbors using the spatial locator from setSearchmethod, and the given surface ...</div><div class="ttdef"><b>Definition:</b> keypoint.h:158</div></div>
<div class="ttc" id="aclasspcl_1_1_keypoint_html_abe8df9e1d66f449bc478cc06f062f209"><div class="ttname"><a href="classpcl_1_1_keypoint.html#abe8df9e1d66f449bc478cc06f062f209">pcl::Keypoint::keypoints_indices_</a></div><div class="ttdeci">pcl::PointIndicesPtr keypoints_indices_</div><div class="ttdoc">Indices of the keypoints in the input cloud.</div><div class="ttdef"><b>Definition:</b> keypoint.h:197</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_a09c70d8e06e3fb4f07903fe6f8d67869"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">pcl::PCLBase&lt; PointInT &gt;::input_</a></div><div class="ttdeci">PointCloudConstPtr input_</div><div class="ttdoc">The input point cloud dataset.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:150</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#aea90235222675852378ca58bd8202494">&#9670;&nbsp;</a></span>getBoundaryPoints()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT , typename PointOutT , typename NormalT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">bool * <a class="el" href="classpcl_1_1_i_s_s_keypoint3_d.html">pcl::ISSKeypoint3D</a>&lt; PointInT, PointOutT, <a class="el" href="structpcl_1_1_normal.html">NormalT</a> &gt;::getBoundaryPoints </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classpcl_1_1_point_cloud.html">PointCloudIn</a> &amp;&#160;</td>
          <td class="paramname"><em>input</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>border_radius</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>angle_threshold</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Compute the boundary points for the given input cloud. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">input</td><td>the input cloud </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">border_radius</td><td>the radius used to compute the boundary points </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">angle_threshold</td><td>the decision boundary that marks the points as boundary </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>the vector of boolean values in which the information about the boundary points is stored </dd></dl>
<div class="fragment"><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;{</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  <span class="keywordtype">bool</span>* edge_points = <span class="keyword">new</span> <span class="keywordtype">bool</span> [input.size ()];</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  Eigen::Vector4f u = Eigen::Vector4f::Zero ();</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  Eigen::Vector4f v = Eigen::Vector4f::Zero ();</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  <a class="code" href="classpcl_1_1_boundary_estimation.html">pcl::BoundaryEstimation&lt;PointInT, NormalT, pcl::Boundary&gt;</a> boundary_estimator;</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  boundary_estimator.<a class="code" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">setInputCloud</a> (<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>);</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160; </div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  <span class="keywordtype">int</span> index;</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;<span class="preprocessor">#ifdef _OPENMP</span></div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;<span class="preprocessor">#pragma omp parallel for private(u, v) num_threads(threads_)</span></div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  <span class="keywordflow">for</span> (index = 0; index &lt; int (input.points.size ()); index++)</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  {</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    edge_points[index] = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    PointInT current_point = input.points[index];</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160; </div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    <span class="keywordflow">if</span> (pcl::isFinite(current_point))</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    {</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;      std::vector&lt;int&gt; nn_indices;</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;      std::vector&lt;float&gt; nn_distances;</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;      <span class="keywordtype">int</span> n_neighbors;</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160; </div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;      this-&gt;<a class="code" href="classpcl_1_1_keypoint.html#aa327f241d246cec23ca531261f60da3f">searchForNeighbors</a> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (index), border_radius, nn_indices, nn_distances);</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160; </div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      n_neighbors = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (nn_indices.size ());</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160; </div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;      <span class="keywordflow">if</span> (n_neighbors &gt;= <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#ae9a44f39d2d44e6406bd28f4bedfaef5">min_neighbors_</a>)</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;      {</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    boundary_estimator.<a class="code" href="classpcl_1_1_boundary_estimation.html#a085a59e06686a13ebe69997e6319e6c9">getCoordinateSystemOnPlane</a> (<a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#aa182e0c44f26fb0da65ea203046db3e9">normals_</a>-&gt;points[index], u, v);</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160; </div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;    <span class="keywordflow">if</span> (boundary_estimator.<a class="code" href="classpcl_1_1_boundary_estimation.html#acfdb38b1c483dfcf917200dec852fe6c">isBoundaryPoint</a> (input, <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (index), nn_indices, u, v, angle_threshold))</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;      edge_points[index] = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;      }</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    }</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;  }</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160; </div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;  <span class="keywordflow">return</span> (edge_points);</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_boundary_estimation_html"><div class="ttname"><a href="classpcl_1_1_boundary_estimation.html">pcl::BoundaryEstimation</a></div><div class="ttdoc">BoundaryEstimation estimates whether a set of points is lying on surface boundaries using an angle cr...</div><div class="ttdef"><b>Definition:</b> boundary.h:82</div></div>
<div class="ttc" id="aclasspcl_1_1_boundary_estimation_html_a085a59e06686a13ebe69997e6319e6c9"><div class="ttname"><a href="classpcl_1_1_boundary_estimation.html#a085a59e06686a13ebe69997e6319e6c9">pcl::BoundaryEstimation::getCoordinateSystemOnPlane</a></div><div class="ttdeci">void getCoordinateSystemOnPlane(const PointNT &amp;p_coeff, Eigen::Vector4f &amp;u, Eigen::Vector4f &amp;v)</div><div class="ttdoc">Get a u-v-n coordinate system that lies on a plane defined by its normal</div><div class="ttdef"><b>Definition:</b> boundary.h:161</div></div>
<div class="ttc" id="aclasspcl_1_1_boundary_estimation_html_acfdb38b1c483dfcf917200dec852fe6c"><div class="ttname"><a href="classpcl_1_1_boundary_estimation.html#acfdb38b1c483dfcf917200dec852fe6c">pcl::BoundaryEstimation::isBoundaryPoint</a></div><div class="ttdeci">bool isBoundaryPoint(const pcl::PointCloud&lt; PointInT &gt; &amp;cloud, int q_idx, const std::vector&lt; int &gt; &amp;indices, const Eigen::Vector4f &amp;u, const Eigen::Vector4f &amp;v, const float angle_threshold)</div><div class="ttdoc">Check whether a point is a boundary point in a planar patch of projected points given by indices.</div><div class="ttdef"><b>Definition:</b> boundary.hpp:49</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a61e2d8e2b2546001194e438034bb1f8d">&#9670;&nbsp;</a></span>getScatterMatrix()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT , typename PointOutT , typename NormalT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_i_s_s_keypoint3_d.html">pcl::ISSKeypoint3D</a>&lt; PointInT, PointOutT, <a class="el" href="structpcl_1_1_normal.html">NormalT</a> &gt;::getScatterMatrix </td>
          <td>(</td>
          <td class="paramtype">const int &amp;&#160;</td>
          <td class="paramname"><em>current_index</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Eigen::Matrix3d &amp;&#160;</td>
          <td class="paramname"><em>cov_m</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Compute the scatter matrix for a point index. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">current_index</td><td>the index of the point </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">cov_m</td><td>the point scatter matrix </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;{</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;  <span class="keyword">const</span> PointInT&amp; current_point = (*input_).points[current_index];</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160; </div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;  <span class="keywordtype">double</span> central_point[3];</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;  memset(central_point, 0, <span class="keyword">sizeof</span>(<span class="keywordtype">double</span>) * 3);</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160; </div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;  central_point[0] = current_point.x;</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;  central_point[1] = current_point.y;</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;  central_point[2] = current_point.z;</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160; </div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;  cov_m = Eigen::Matrix3d::Zero ();</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160; </div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;  std::vector&lt;int&gt; nn_indices;</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;  std::vector&lt;float&gt; nn_distances;</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;  <span class="keywordtype">int</span> n_neighbors;</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160; </div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;  this-&gt;<a class="code" href="classpcl_1_1_keypoint.html#aa327f241d246cec23ca531261f60da3f">searchForNeighbors</a> (current_index, <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#a7172556ea66b5b2a1c86c48097e4b66c">salient_radius_</a>, nn_indices, nn_distances);</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160; </div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;  n_neighbors = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (nn_indices.size ());</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160; </div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;  <span class="keywordflow">if</span> (n_neighbors &lt; <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#ae9a44f39d2d44e6406bd28f4bedfaef5">min_neighbors_</a>)</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160; </div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;  <span class="keywordtype">double</span> cov[9];</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;  memset(cov, 0, <span class="keyword">sizeof</span>(<span class="keywordtype">double</span>) * 9);</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160; </div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> n_idx = 0; n_idx &lt; n_neighbors; n_idx++)</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;  {</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;    <span class="keyword">const</span> PointInT&amp; n_point = (*input_).points[nn_indices[n_idx]];</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160; </div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;    <span class="keywordtype">double</span> neigh_point[3];</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;    memset(neigh_point, 0, <span class="keyword">sizeof</span>(<span class="keywordtype">double</span>) * 3);</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160; </div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;    neigh_point[0] = n_point.x;</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;    neigh_point[1] = n_point.y;</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    neigh_point[2] = n_point.z;</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160; </div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; 3; i++)</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j &lt; 3; j++)</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;        cov[i * 3 + j] += (neigh_point[i] - central_point[i]) * (neigh_point[j] - central_point[j]);</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;  }</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160; </div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;  cov_m &lt;&lt; cov[0], cov[1], cov[2],</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;       cov[3], cov[4], cov[5],</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;       cov[6], cov[7], cov[8];</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#ac2a9b728c1984938db6cb35b1f8618b4">&#9670;&nbsp;</a></span>initCompute()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT , typename PointOutT , typename NormalT &gt; </div>
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          <td class="memname">bool <a class="el" href="classpcl_1_1_i_s_s_keypoint3_d.html">pcl::ISSKeypoint3D</a>&lt; PointInT, PointOutT, <a class="el" href="structpcl_1_1_normal.html">NormalT</a> &gt;::initCompute</td>
        </tr>
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<span class="mlabels"><span class="mlabel">protected</span><span class="mlabel">virtual</span></span>  </td>
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<p>Perform the initial checks before computing the keypoints. </p>
<dl class="section return"><dt>返回</dt><dd>true if all the checks are passed, false otherwise </dd></dl>

<p>重载 <a class="el" href="classpcl_1_1_keypoint.html">pcl::Keypoint&lt; PointInT, PointOutT &gt;</a> .</p>
<div class="fragment"><div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;{</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;  <span class="keywordflow">if</span> (!Keypoint&lt;PointInT, PointOutT&gt;::initCompute ())</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;  {</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::%s::initCompute] init failed!\n&quot;</span>, <a class="code" href="classpcl_1_1_keypoint.html#aef5710b81d66e6d429a9dfeb41d606ff">name_</a>.c_str ());</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;  }</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#a7172556ea66b5b2a1c86c48097e4b66c">salient_radius_</a> &lt;= 0)</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;  {</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::%s::initCompute] : the salient radius (%f) must be strict positive!\n&quot;</span>,</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;        <a class="code" href="classpcl_1_1_keypoint.html#aef5710b81d66e6d429a9dfeb41d606ff">name_</a>.c_str (), <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#a7172556ea66b5b2a1c86c48097e4b66c">salient_radius_</a>);</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;  }</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#a962bdf309d623503b1b262fedb829754">non_max_radius_</a> &lt;= 0)</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;  {</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::%s::initCompute] : the non maxima radius (%f) must be strict positive!\n&quot;</span>,</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;        <a class="code" href="classpcl_1_1_keypoint.html#aef5710b81d66e6d429a9dfeb41d606ff">name_</a>.c_str (), <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#a962bdf309d623503b1b262fedb829754">non_max_radius_</a>);</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;  }</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#a9371d707be211e6a031f00de27aec208">gamma_21_</a> &lt;= 0)</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;  {</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::%s::initCompute] : the threshold on the ratio between the 2nd and the 1rst eigenvalue (%f) must be strict positive!\n&quot;</span>,</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;        <a class="code" href="classpcl_1_1_keypoint.html#aef5710b81d66e6d429a9dfeb41d606ff">name_</a>.c_str (), <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#a9371d707be211e6a031f00de27aec208">gamma_21_</a>);</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;  }</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#a5785e509ce928ec4bb18de8ccd920668">gamma_32_</a> &lt;= 0)</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;  {</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::%s::initCompute] : the threshold on the ratio between the 3rd and the 2nd eigenvalue (%f) must be strict positive!\n&quot;</span>,</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;        <a class="code" href="classpcl_1_1_keypoint.html#aef5710b81d66e6d429a9dfeb41d606ff">name_</a>.c_str (), <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#a5785e509ce928ec4bb18de8ccd920668">gamma_32_</a>);</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;  }</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#ae9a44f39d2d44e6406bd28f4bedfaef5">min_neighbors_</a> &lt;= 0)</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;  {</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::%s::initCompute] : the minimum number of neighbors (%f) must be strict positive!\n&quot;</span>,</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;        <a class="code" href="classpcl_1_1_keypoint.html#aef5710b81d66e6d429a9dfeb41d606ff">name_</a>.c_str (), <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#ae9a44f39d2d44e6406bd28f4bedfaef5">min_neighbors_</a>);</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;  }</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160; </div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#a1e2c3555b8731f73f80038d53c5e02d1">third_eigen_value_</a>)</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;    <span class="keyword">delete</span>[] <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#a1e2c3555b8731f73f80038d53c5e02d1">third_eigen_value_</a>;</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160; </div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;  <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#a1e2c3555b8731f73f80038d53c5e02d1">third_eigen_value_</a> = <span class="keyword">new</span> <span class="keywordtype">double</span>[<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;size ()];</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;  memset(<a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#a1e2c3555b8731f73f80038d53c5e02d1">third_eigen_value_</a>, 0, <span class="keyword">sizeof</span>(<span class="keywordtype">double</span>) * <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;size ());</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160; </div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#a7ed8196d927bc413146e7a76dd885255">edge_points_</a>)</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;    <span class="keyword">delete</span>[] <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#a7ed8196d927bc413146e7a76dd885255">edge_points_</a>;</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160; </div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#acee859609fc4af6647ff620e2345b5ab">border_radius_</a> &gt; 0.0)</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;  {</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;    <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#aa182e0c44f26fb0da65ea203046db3e9">normals_</a>-&gt;empty ())</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;    {</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;      <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#ac8ecef68caca79848c9c87f8d25187a4">normal_radius_</a> &lt;= 0.)</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;      {</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;        PCL_ERROR (<span class="stringliteral">&quot;[pcl::%s::initCompute] : the radius used to estimate surface normals (%f) must be positive!\n&quot;</span>,</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;        <a class="code" href="classpcl_1_1_keypoint.html#aef5710b81d66e6d429a9dfeb41d606ff">name_</a>.c_str (), <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#ac8ecef68caca79848c9c87f8d25187a4">normal_radius_</a>);</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;        <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;      }</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160; </div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;      PointCloudNPtr normal_ptr (<span class="keyword">new</span> PointCloudN ());</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;      <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;height == 1 )</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;      {</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;        <a class="code" href="classpcl_1_1_normal_estimation.html">pcl::NormalEstimation&lt;PointInT, NormalT&gt;</a> normal_estimation;</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;        normal_estimation.<a class="code" href="classpcl_1_1_normal_estimation.html#ac92dbbea9d923754b3d87d981a6bd131">setInputCloud</a> (<a class="code" href="classpcl_1_1_keypoint.html#a1998c46514f3f8d8d7665f6b505ca389">surface_</a>);</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;        normal_estimation.<a class="code" href="classpcl_1_1_feature.html#a44829319486a2dc415a4e068dc55c577">setRadiusSearch</a> (<a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#ac8ecef68caca79848c9c87f8d25187a4">normal_radius_</a>);</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;        normal_estimation.<a class="code" href="classpcl_1_1_feature.html#ad5b1fa9612da40e738b1d99252c5ff2f">compute</a> (*normal_ptr);</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;      }</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;      {</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;        <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html">pcl::IntegralImageNormalEstimation&lt;PointInT, NormalT&gt;</a> normal_estimation;</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;        normal_estimation.<a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a6bde05e6637af21bb5f970c9feba4fc0">setNormalEstimationMethod</a> (<a class="code" href="classpcl_1_1_integral_image_normal_estimation.html">pcl::IntegralImageNormalEstimation&lt;PointInT, NormalT&gt;::SIMPLE_3D_GRADIENT</a>);</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;        normal_estimation.<a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#a03cc1e146b6041a1d3d5a989ad171ee2">setInputCloud</a> (<a class="code" href="classpcl_1_1_keypoint.html#a1998c46514f3f8d8d7665f6b505ca389">surface_</a>);</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;        normal_estimation.<a class="code" href="classpcl_1_1_integral_image_normal_estimation.html#ac833637b98338bafa4c38925ab245927">setNormalSmoothingSize</a> (5.0);</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;        normal_estimation.<a class="code" href="classpcl_1_1_feature.html#ad5b1fa9612da40e738b1d99252c5ff2f">compute</a> (*normal_ptr);</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;      }</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;      <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#aa182e0c44f26fb0da65ea203046db3e9">normals_</a> = normal_ptr;</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;    }</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;    <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#aa182e0c44f26fb0da65ea203046db3e9">normals_</a>-&gt;size () != <a class="code" href="classpcl_1_1_keypoint.html#a1998c46514f3f8d8d7665f6b505ca389">surface_</a>-&gt;size ())</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;    {</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;      PCL_ERROR (<span class="stringliteral">&quot;[pcl::%s::initCompute] normals given, but the number of normals does not match the number of input points!\n&quot;</span>, <a class="code" href="classpcl_1_1_keypoint.html#aef5710b81d66e6d429a9dfeb41d606ff">name_</a>.c_str ());</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;      <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;    }</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;  }</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#acee859609fc4af6647ff620e2345b5ab">border_radius_</a> &lt; 0.0)</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;  {</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::%s::initCompute] : the border radius used to estimate boundary points (%f) must be positive!\n&quot;</span>,</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;        <a class="code" href="classpcl_1_1_keypoint.html#aef5710b81d66e6d429a9dfeb41d606ff">name_</a>.c_str (), <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#acee859609fc4af6647ff620e2345b5ab">border_radius_</a>);</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;  }</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160; </div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_feature_html_a44829319486a2dc415a4e068dc55c577"><div class="ttname"><a href="classpcl_1_1_feature.html#a44829319486a2dc415a4e068dc55c577">pcl::Feature::setRadiusSearch</a></div><div class="ttdeci">void setRadiusSearch(double radius)</div><div class="ttdoc">Set the sphere radius that is to be used for determining the nearest neighbors used for the feature e...</div><div class="ttdef"><b>Definition:</b> feature.h:200</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_ad5b1fa9612da40e738b1d99252c5ff2f"><div class="ttname"><a href="classpcl_1_1_feature.html#ad5b1fa9612da40e738b1d99252c5ff2f">pcl::Feature::compute</a></div><div class="ttdeci">void compute(PointCloudOut &amp;output)</div><div class="ttdoc">Base method for feature estimation for all points given in &lt;setInputCloud (), setIndices ()&gt; using th...</div><div class="ttdef"><b>Definition:</b> feature.hpp:189</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html">pcl::IntegralImageNormalEstimation</a></div><div class="ttdoc">Surface normal estimation on organized data using integral images.</div><div class="ttdef"><b>Definition:</b> integral_image_normal.h:69</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_a03cc1e146b6041a1d3d5a989ad171ee2"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#a03cc1e146b6041a1d3d5a989ad171ee2">pcl::IntegralImageNormalEstimation::setInputCloud</a></div><div class="ttdeci">virtual void setInputCloud(const typename PointCloudIn::ConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input dataset (overwrites the PCLBase::setInputCloud method)</div><div class="ttdef"><b>Definition:</b> integral_image_normal.h:235</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_a6bde05e6637af21bb5f970c9feba4fc0"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#a6bde05e6637af21bb5f970c9feba4fc0">pcl::IntegralImageNormalEstimation::setNormalEstimationMethod</a></div><div class="ttdeci">void setNormalEstimationMethod(NormalEstimationMethod normal_estimation_method)</div><div class="ttdoc">Set the normal estimation method. The current implemented algorithms are:</div><div class="ttdef"><b>Definition:</b> integral_image_normal.h:217</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html_ac833637b98338bafa4c38925ab245927"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html#ac833637b98338bafa4c38925ab245927">pcl::IntegralImageNormalEstimation::setNormalSmoothingSize</a></div><div class="ttdeci">void setNormalSmoothingSize(float normal_smoothing_size)</div><div class="ttdoc">Set the normal smoothing size</div><div class="ttdef"><b>Definition:</b> integral_image_normal.h:193</div></div>
<div class="ttc" id="aclasspcl_1_1_keypoint_html_a1998c46514f3f8d8d7665f6b505ca389"><div class="ttname"><a href="classpcl_1_1_keypoint.html#a1998c46514f3f8d8d7665f6b505ca389">pcl::Keypoint::surface_</a></div><div class="ttdeci">PointCloudInConstPtr surface_</div><div class="ttdoc">An input point cloud describing the surface that is to be used for nearest neighbors estimation.</div><div class="ttdef"><b>Definition:</b> keypoint.h:182</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_estimation_html"><div class="ttname"><a href="classpcl_1_1_normal_estimation.html">pcl::NormalEstimation</a></div><div class="ttdoc">NormalEstimation estimates local surface properties (surface normals and curvatures)at each 3D point....</div><div class="ttdef"><b>Definition:</b> normal_3d.h:200</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_estimation_html_ac92dbbea9d923754b3d87d981a6bd131"><div class="ttname"><a href="classpcl_1_1_normal_estimation.html#ac92dbbea9d923754b3d87d981a6bd131">pcl::NormalEstimation::setInputCloud</a></div><div class="ttdeci">virtual void setInputCloud(const PointCloudConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input dataset</div><div class="ttdef"><b>Definition:</b> normal_3d.h:290</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a8984ac00ee1822bcdae48486394175c1">&#9670;&nbsp;</a></span>setAngleThreshold()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT , typename PointOutT , typename NormalT  = pcl::Normal&gt; </div>
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  <tr>
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          <td class="memname">void <a class="el" href="classpcl_1_1_i_s_s_keypoint3_d.html">pcl::ISSKeypoint3D</a>&lt; PointInT, PointOutT, <a class="el" href="structpcl_1_1_normal.html">NormalT</a> &gt;::setAngleThreshold </td>
          <td>(</td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>angle</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
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<p>Set the decision boundary (angle threshold) that marks points as boundary or regular. (default <img class="formulaInl" alt="$\pi / 2.0$" src="form_16.png"/>) </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">angle</td><td>the angle threshold </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;      {</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;        <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#ab052a7323d71aeb347563cd061f37823">angle_threshold_</a> = angle;</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;      }</div>
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<a id="a5f3b3731352fcb7b3dadca2a8bfa78e9"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a5f3b3731352fcb7b3dadca2a8bfa78e9">&#9670;&nbsp;</a></span>setBorderRadius()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT , typename PointOutT , typename NormalT &gt; </div>
      <table class="memname">
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          <td class="memname">void <a class="el" href="classpcl_1_1_i_s_s_keypoint3_d.html">pcl::ISSKeypoint3D</a>&lt; PointInT, PointOutT, <a class="el" href="structpcl_1_1_normal.html">NormalT</a> &gt;::setBorderRadius </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>border_radius</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Set the radius used for the estimation of the boundary points. If the radius is too large, the temporal performances of the detector may degrade significantly. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">border_radius</td><td>the radius used to compute the boundary points </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;{</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#acee859609fc4af6647ff620e2345b5ab">border_radius_</a> = border_radius;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a90c224d042979a73195fdcbc7b007f05">&#9670;&nbsp;</a></span>setMinNeighbors()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT , typename PointOutT , typename NormalT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_i_s_s_keypoint3_d.html">pcl::ISSKeypoint3D</a>&lt; PointInT, PointOutT, <a class="el" href="structpcl_1_1_normal.html">NormalT</a> &gt;::setMinNeighbors </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>min_neighbors</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
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<p>Set the minimum number of neighbors that has to be found while applying the non maxima suppression algorithm. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">min_neighbors</td><td>the minimum number of neighbors required </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;{</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#ae9a44f39d2d44e6406bd28f4bedfaef5">min_neighbors_</a> = min_neighbors;</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#ade672eadfb5e9ae231348cca7b49aabd">&#9670;&nbsp;</a></span>setNonMaxRadius()</h2>

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<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT , typename PointOutT , typename NormalT &gt; </div>
      <table class="memname">
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          <td class="memname">void <a class="el" href="classpcl_1_1_i_s_s_keypoint3_d.html">pcl::ISSKeypoint3D</a>&lt; PointInT, PointOutT, <a class="el" href="structpcl_1_1_normal.html">NormalT</a> &gt;::setNonMaxRadius </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>non_max_radius</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Set the radius for the application of the non maxima supression algorithm. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">non_max_radius</td><td>the non maxima suppression radius </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;{</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#a962bdf309d623503b1b262fedb829754">non_max_radius_</a> = non_max_radius;</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a9549a2fac5de5583404ee6699ffe26c1">&#9670;&nbsp;</a></span>setNormalRadius()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT , typename PointOutT , typename NormalT &gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1_i_s_s_keypoint3_d.html">pcl::ISSKeypoint3D</a>&lt; PointInT, PointOutT, <a class="el" href="structpcl_1_1_normal.html">NormalT</a> &gt;::setNormalRadius </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>normal_radius</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Set the radius used for the estimation of the surface normals of the input cloud. If the radius is too large, the temporal performances of the detector may degrade significantly. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">normal_radius</td><td>the radius used to estimate surface normals </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;{</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#ac8ecef68caca79848c9c87f8d25187a4">normal_radius_</a> = normal_radius;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a2f59c8225cdd9e2b7aa8b309d73d7b13">&#9670;&nbsp;</a></span>setNormals()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT , typename PointOutT , typename NormalT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_i_s_s_keypoint3_d.html">pcl::ISSKeypoint3D</a>&lt; PointInT, PointOutT, <a class="el" href="structpcl_1_1_normal.html">NormalT</a> &gt;::setNormals </td>
          <td>(</td>
          <td class="paramtype">const PointCloudNConstPtr &amp;&#160;</td>
          <td class="paramname"><em>normals</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
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<p>Set the normals if pre-calculated normals are available. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">normals</td><td>the given cloud of normals </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;{</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#aa182e0c44f26fb0da65ea203046db3e9">normals_</a> = normals;</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a2afb0b8044b352a795ab38f85218f581">&#9670;&nbsp;</a></span>setNumberOfThreads()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT , typename PointOutT , typename NormalT  = pcl::Normal&gt; </div>
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      <table class="memname">
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          <td class="memname">void <a class="el" href="classpcl_1_1_i_s_s_keypoint3_d.html">pcl::ISSKeypoint3D</a>&lt; PointInT, PointOutT, <a class="el" href="structpcl_1_1_normal.html">NormalT</a> &gt;::setNumberOfThreads </td>
          <td>(</td>
          <td class="paramtype">unsigned int&#160;</td>
          <td class="paramname"><em>nr_threads</em> = <code>0</code></td><td>)</td>
          <td></td>
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  </td>
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<p>Initialize the scheduler and set the number of threads to use. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">nr_threads</td><td>the number of hardware threads to use (0 sets the value back to automatic) </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;{ <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#aa65049e1122f688195bff1672f697fa4">threads_</a> = nr_threads; }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a5feefc782bd54c324170b82482711360">&#9670;&nbsp;</a></span>setSalientRadius()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointInT , typename PointOutT , typename NormalT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_i_s_s_keypoint3_d.html">pcl::ISSKeypoint3D</a>&lt; PointInT, PointOutT, <a class="el" href="structpcl_1_1_normal.html">NormalT</a> &gt;::setSalientRadius </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>salient_radius</em></td><td>)</td>
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        </tr>
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<p>Set the radius of the spherical neighborhood used to compute the scatter matrix. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">salient_radius</td><td>the radius of the spherical neighborhood </td></tr>
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  </dd>
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<div class="fragment"><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;{</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#a7172556ea66b5b2a1c86c48097e4b66c">salient_radius_</a> = salient_radius;</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a8530d096380170a4d81d65ae2e85d9ca">&#9670;&nbsp;</a></span>setThreshold21()</h2>

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<div class="memtemplate">
template&lt;typename PointInT , typename PointOutT , typename NormalT &gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1_i_s_s_keypoint3_d.html">pcl::ISSKeypoint3D</a>&lt; PointInT, PointOutT, <a class="el" href="structpcl_1_1_normal.html">NormalT</a> &gt;::setThreshold21 </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>gamma_21</em></td><td>)</td>
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<p>Set the upper bound on the ratio between the second and the first eigenvalue. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">gamma_21</td><td>the upper bound on the ratio between the second and the first eigenvalue </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;{</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#a9371d707be211e6a031f00de27aec208">gamma_21_</a> = gamma_21;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#aa0687ad53c67c5a140ecea019036d67d">&#9670;&nbsp;</a></span>setThreshold32()</h2>

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<div class="memtemplate">
template&lt;typename PointInT , typename PointOutT , typename NormalT &gt; </div>
      <table class="memname">
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          <td class="memname">void <a class="el" href="classpcl_1_1_i_s_s_keypoint3_d.html">pcl::ISSKeypoint3D</a>&lt; PointInT, PointOutT, <a class="el" href="structpcl_1_1_normal.html">NormalT</a> &gt;::setThreshold32 </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>gamma_32</em></td><td>)</td>
          <td></td>
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<p>Set the upper bound on the ratio between the third and the second eigenvalue. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">gamma_32</td><td>the upper bound on the ratio between the third and the second eigenvalue </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;{</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  <a class="code" href="classpcl_1_1_i_s_s_keypoint3_d.html#a5785e509ce928ec4bb18de8ccd920668">gamma_32_</a> = gamma_32;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;}</div>
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<hr/>该类的文档由以下文件生成:<ul>
<li>keypoints/include/pcl/keypoints/<a class="el" href="iss__3d_8h_source.html">iss_3d.h</a></li>
<li>keypoints/include/pcl/keypoints/impl/<a class="el" href="iss__3d_8hpp_source.html">iss_3d.hpp</a></li>
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